Epsilon-safe Planning 1994, Honeywell Technology Center

We introduce an approach to high-level conditional planning we call-safe planning. This probabilistic approach commits us to planning to meet some speciied goal with a probability of success of at least 1 ? for some user-supplied. We describe several algorithms for-safe planning based on conditional planners. The two conditional planners we discuss are Peot and Smith's non-linear conditional planner, Cnlp, and our own linear conditional planner, Plinth. We present a straightforward extension to conditional planners for which computing the necessary probabilities is simple, employing a commonly-made but perhaps overly-strong independence assumption. We also discuss a second approach to-safe planning which relaxes this independence assumption, involving the incremental construction of a probability dependence model in conjunction with the construction of the plan graph.