A new algorithm for handling sensing actions in uncertainty intelligent planning

Sensing actions are not instantaneous in the process of expanding the planning graph. Instead, they are instantaneous in the process of searching for a valid plan when they are used. This new method is completely different from the extending the graphplan to handle uncertainty and sensing actions algorithm that was put forward by D. Weld professor at Washington University in 1994. This new method makes the planning graph smaller, the searching process more efficient, and speeds up the planner. Besides, if a sensing action is used in the searching process, it is directly added into the plan and the proposition supported by the sensing action won't be added to the next goal.