Planning in belief space with a labelled uncertainty graph
Daniel Bryce, Subbarao Kambhampati, David Edward Smith · 2004
Planning in belief space with a Labelled Uncertainty Graph, LUG, is an approach that uses a very compact planning graph to guide search in the space of belief states to construct conformant and contingent plans. A conformant plan is a plan that transitions (without sensing) all possible initial states through possibly non-deterministic actions to a goal state. A contingent plan adds the ability to observe state variables and branch execution. The LUG