Nilufer Onder and Martha Pollack
A key question in conditional planning is: how many, and which of the possible execution failures should be planned for? One cannot, in general, plan for all the failures that can be anticipated: there axe simply too many. But neither can one ignore all the possible failures, or one will fail to produce sufficiently flexible plans. We describe a planning system that attempts to identify the contingencies that contribute the most to a plan’s overall value. Plan generation proceeds by extending the plan to include actions that will be taken in case the identified contingencies fail, iterating until either a given expected value threshold is reached or planning time is exhausted.