On planning while Executing in stationary environments

The interleaving of planning with execution is a basic approach to planning with incomplete information. This paper investigates the use of this approach in stationary environments. We rst de ne a computational framework where this approach can be investigated. We then show how the interleaving of planning with execution can be used for reducing planning with incomplete information to planning with complete information and constraint satisfaction. In addition, we show a restriction on our model where this reduction yields a polynomial procedure for planning with incomplete information. Finally, we discuss belief-based conditional planning; an approach which bridges part of the gap between planning while executing and general conditional planning. 2