A Structured, Probabilistic Representation of Action
  When agents devise plans for execution in the real world, they face two
important forms of uncertainty: they can never have complete knowledge about
the state of the world, and they do not have complete control, as the effects
of their actions are uncertain. While most classical planning methods avoid
explicit uncertainty reasoning, we believe that uncertainty should be
explicitly represented and reasoned about. We develop a probabilistic
representation for states and actions, based on belief networks. We define
conditional belief nets (CBNs) to capture the probabilistic dependency of the
effects of an action upon the state of the world. We also use a CBN to
represent the intrinsic relationships among entities in the environment, which
persist from state to state. We present a simple projection algorithm to
construct the belief network of the state succeeding an action, using the
environment CBN model to infer indirect effects. We discuss how the qualitative
aspects of belief networks and CBNs make them appropriate for the various
stages of the problem solving process, from model construction to the design of
planning algorithms.
