Probapop: Probabilistic Partial-Order Planning

We describe Probapop, a partial-order probabilistic planning system. Probapop is a blind (conformant) planner that finds plans for domains involving probabilistic actions but no observability. The Probapop implementation is based on Vhpop, a partial-order deterministic planner written in C++. The Probapop algorithm uses plan graph based heuristics for selecting a plan from the search queue, and probabilistic assessment heuristics for selecting a condition whose probability can be increased.