---
title: "A Possibilistic Planner that Deals with Non-Determinism and Contingency"
authors:
  - "Emmanuel Guere"
  - "Rachid Alami"
doi: ""
url: "https://ijcai.org/proceedings/1999/142"
pdf: "https://ijcai.org/proceedings/1999/0142.pdf"
venue: "Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence"
year: 1999
pages: "996-1000"
track: "Planning and Scheduling"
keywords:
---

# A Possibilistic Planner that Deals with Non-Determinism and Contingency

Emmanuel Guere, Rachid Alami

*Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence*, pages 996-1000.

## Abstract

This paper propos es a new planning approach that authorizes an autonomous robot to reason about the inaccuracy of th e world description and of its possible evolutions. We represent the uncertainty with the possibility theory; this allows us to distinguish between two types of nondeterminism: a non-determinism from insufficient modeling and a non-determinism from uncertainty. Besides, we introduce perception actions as well as a model of the environment dynamics through "contingent events". Finally, we present an implemented experimental planner , based on Graphp l an search paradigm . This plann er is ab le to produce plans that are robust with respect to contingent events, and whose goal-achieving ability is evaluated a priori. The obtained plans can be conformant or conditional depending on the context and the user requirements.