Conditional Linear Planning

In this paper we present a sound and complete lln. ear planning algorithm which accomodatesconditional actions: actions whose effects cannot be predkted with certainty. Coaditioaal liaear planain8 is si~ificantly simpler than conditional non-linear plannin8 in conception and implementation. Furthermore, the eflldency tradeol which favor non-linear planning do not n~__~__rilycarry over with the same force to planning with conditional actions. Wehave applied our conditional linear planner, PLINTH, to the pmblent of planning imagepmc__*J~_’_ug actions for NASA’s Earth Observing System. Wediscuss the extension of PLm’mto probtbilktic planning.

Authors

• Robert P. Goldman
• Mark S. Boddy

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