A linear time transform for probability aware planning

Presents a transform that enables traditional shortest-feasible-plan planners to reason about uncertain operators and produce plans which have higher probabilities of success. This transform converts a probability-aware domain description into a STRIPS-style description, where the probability of success is expressed by the plan length. Using this transformed description, a plan can be generated by a traditional planner. The transform is shown to be at worst linear in the size of the input, and allows the planning system to trade-off accuracy against runtime as an anytime computation