Abductive Planning with Sensing

Matthew Stone

In abductive planning, plans are constructed as reasons for an agent to act: plans are demonstrations in logical theory of action that a goal will result assuming that given actions occur successfully. This paper shows how to construct plans abductively for an agent that can sense the world to augment its partial information. We use a formalism that explicitly refers not only to time but also to the information on which the agent deliberates. Goals are reformulated to represent the successive stages of deliberation and action the agent follows in carrying out a course of action, while constraints on assumed actions ensure that an agent at each step performs a specific action selected for its known effects. The result is a simple formalism that can directly inform extensions to implemented planners.

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