A stochastic model of actions and plans for anytime planning under uncertainty

startT2T10.50.4unplan−ned(M3)1T3T4startryry0.361fdM1bktable2upfdbkupM4uptable2up0.6finish(M4)900800S3700600A Priori Quality500400300200S110000S2S5S6S4246810Computation Time (sec)1214160.50.5ryfdbkup0.2ryfdbkupback2upM20.ryfdbkupspin0.5M20.start0.36ryfdbkupspin0.50.8ryfdbkupS1, S2start0.36ryfdbkupM3M3ryfdbkupM4M1M10.50.2ryfdbkupback2upM20.ryfdbkupspin0.50.8ryfdbkupS3start0.36ryfdbkup0.4table2upM30.6M4M10.50.2ryfdbkupback2upryfdbkupryfdbkupupbkfdryM20.startryfdbkupspin0.5M3M5table2up0.8M4M6wait0.90.1S40.20.36M1ryfdbkupwait0.90.1ryfdbkup0.8M80.50.2ryfdbkupback2upryfdbkupryfdbkupM20.startryfdbkupspin0.5M3M5table2up0.8M4M6spin0.5ryfdbkupS50.20.5M7back2up10.36M1ryfdbkupwait0.90.1ryfdbkup0.8M8ryfdbkup0.50.9ryfdbkupwaitM20.startryfdbkupspin0.5M3M5table2up0.1ryfdbkupS60.2M6spin0.50.50.36M1ryfdbkupwait0.90.1ryfdbkupryfdbkupM7back2up10.8M8ryfdbkup