  We consider planning with uncertainty in the initial state as a case study of
incremental quantified Boolean formula (QBF) solving. We report on experiments
with a workflow to incrementally encode a planning instance into a sequence of
QBFs. To solve this sequence of incrementally constructed QBFs, we use our
general-purpose incremental QBF solver DepQBF. Since the generated QBFs have
many clauses and variables in common, our approach avoids redundancy both in
the encoding phase and in the solving phase. Experimental results show that
incremental QBF solving outperforms non-incremental QBF solving. Our results
are the first empirical study of incremental QBF solving in the context of
planning and motivate its use in other application domains.
