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We propose an approximation of the Possible Worlds Semantics (PWS) for actionplanning. A corresponding planning system is implemented by a transformation ofthe action specification to an Answer-Set Program. A novelty is support forpostdiction wrt. (a) the plan existence problem in our framework can be solvedin NP, as compared to $\Sigma_2^P$ for non-approximated PWS of Baral(2000); and(b) the planner generates optimal plans wrt. a minimal number of actions in$\Delta_2^P$. We demo the planning system with standard problems, andillustrate its integration in a larger software framework for robot control ina smart home.

h-approximation: History-Based Approximation of Possible World Semantics as ASP