Planning as Satisfiability in Nondeterministic Domains

We focus on planning as satisfiability in simple nondeterministic domains. By ``simple'' we mean specified in a simple extension to the STRIPS formalism allowing for specifying actions with nondeterministic effects. This allows us to simplify and extend the theory presented in (XXXXXX KR'2000). The result is a planning system which, on simple nondeterministic domains, is competitive with other state-of-the-art planners.