Planning with Extended Goals and Partial Observability

Planning in nondeterministic domains with temporally extended goals under partial observability is one of the most challenging problems in planning. Simpler subsets of this problem have been already addressed in the literature, but the general combination of extended goals and partial observability is, to the best of our knowledge, still an open problem. In this paper we present a first attempt to solve the problem, namely, we define an algorithm that builds plans in the general setting of planning with extended goals and partial observability. The algorithm builds on the top of the techniques developed in the planning with model checking framework for the restricted problems of extended goals and of partial observabilit