Interleaving planning with execution using the success probability-Preliminary report

The authors describe a method to interleave planning with execution in the dynamic world. The system interleaves planning with execution using the success probability, SP: likelihood that a plan is executed well. Elemental probabilities are assigned to operations´ effects and irrelevant state descriptions. A partial plan is transformed into a Bayesian network and its SP is computed. An agent switches planning to execution when SP decreases less than an execution threshold. The authors made experiments in Tileworld and found optimal thresholds between reactivity and deliberation. This is a preliminary report for solving tradeoff between reactivity and deliberation