---
title: "A Translation-Based Approach to Contingent Planning"
authors:
  - "Alexandre Albore"
  - "Héctor Palacios"
  - "Hector Geffner"
doi: ""
url: "https://ijcai.org/proceedings/2009/271"
pdf: "https://ijcai.org/proceedings/2009/0271.pdf"
venue: "Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence"
year: 2009
pages: "1623-1627"
track: ""
keywords:
---

# A Translation-Based Approach to Contingent Planning

Alexandre Albore, Héctor Palacios, Hector Geffner

*Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence*, pages 1623-1627.

## Abstract

The problem of planning in the presence of sensing has been addressed in recent years as a non-deterministic search problem in belief space. In this work, we use ideas advanced recently for compiling conformant problems into classical ones for introducing a different approach where contingent problems P are mapped into non-deterministic problems X(P) in state space. We also identify a contingent width parameter, and show that for problems P with bounded contingent width, the translation is sound, polynomial, and complete. We then solve X(P) by using a relaxation X+(P) that is a classical planning problem. The formulation is tested experimentally over contingent benchmarks where it is shown to yield a planner that scales up better than existing contingent planners.Alexandre Albore, Héctor Palacios, Héctor Geffner