Exploring the use of BDDs in conformant planning

This paper explores the use of Binary Decision Diagrams (BDDs) in Conformant Planning. A conformant planner, called BPA, based on the BDD representation for belief sets is developed. Heuristics that fit with the BDD representation are presented and analyzed experimentally. The paper confirms the strong potential of BDDs to enhance performance of heuristic search based conformant planners.