  Fully Observable Non-Deterministic (FOND) planning models uncertainty through
actions with non-deterministic effects. Existing FOND planning algorithms are
effective and employ a wide range of techniques. However, most of the existing
algorithms are not robust for dealing with both non-determinism and task size.
In this paper, we develop a novel iterative depth-first search algorithm that
solves FOND planning tasks and produces strong cyclic policies. Our algorithm
is explicitly designed for FOND planning, addressing more directly the
non-deterministic aspect of FOND planning, and it also exploits the benefits of
heuristic functions to make the algorithm more effective during the iterative
searching process. We compare our proposed algorithm to well-known FOND
planners, and show that it has robust performance over several distinct types
of FOND domains considering different metrics.
