Mark A. Peot, David E. Smith
CNLP proactively develops plans that account for foreseen sources of uncertainty. CNLP uses conditioning, a new threat-resolution action, to resolve threats that occur between the possibly contingent branches of a conditional plan. A simple labelling scheme is used that allows the planner to determine when contingent steps should be executed and when these steps are no longer required for goal satisfaction. CNLP is the nonlinear extension of the linear conditional planner, WARPLAN-C.