A conformant planner based on approximation: CpA(H)

Vien Tran, Khoi Nguyen, Tran Cao Son, Enrico Pontelli

Abstract: This article describes the planner CpA(H), the recipient of the Best Nonobservable Nondeterministic Planner Award in the “Uncertainty Track” of the 6th International Planning Competition (IPC), 2008. The article presents the various techniques that help CpA(H) to achieve the level of performance and scalability exhibited in the competition. The article also presents experimental results comparing CpA(H) with state-of-the-art conformant planners.