Representing uncertainty in robot task planning

A representation for uncertain states within the context of robot task planning is described. This includes the probabilistic description of objects, relationships between objects, and operators. It is one component of a task planner designed for use in uncertain task domains. The planner is based on a game theoretic-approach which views the environment as an opponent (often fallible). Multiple outcomes arising from operator application in an uncertain world are attributed to moves of the opponent. These are called reaction operators. Their representation and effect on the planning process are discussed