Abstract

PKS (Planning with Knowledge and Sensing) is a “knowledge-level ” planner that is able to construct conditional plans in the presence of incomplete knowledge and sensing (Bacchus and Petrick 1998; Petrick and Bacchus 2002; 2004). The key idea of this approach is to represent the agent’s knowledge state with a first-order language,and to represent actions by their effects on the agent’s knowledge, rather than by their effects on the environment. Since general reasoning in such a rich language is impractical, PKS employs a restricted subset of the language and a limited amount of inference in that subset. As a result, PKS includes non-propositional features, such as functions and variables. The knowledge-based approach contrasts some of the alternate trends that have concentrated on propositional representations over which complete reasoning is feasible. Such

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