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Monitoring plan preconditions can allow for replanning when a preconditionfails, generally far in advance of the point in the plan where the preconditionis relevant. However, monitoring is generally costly, and some preconditionfailures have a very small impact on plan quality. We formulate a model foroptimal precondition monitoring, using partially-observable Markov decisionsprocesses, and describe methods for solving this model efficitively, thoughapproximately. Specifically, we show that the single-precondition monitoringproblem is generally tractable, and the multiple-precondition monitoringpolicies can be efficitively approximated using single-precondition soultions.

Approximately Optimal Monitoring of Plan Preconditions