Planning with Partial Observability by SAT

Geffner & Geffner (2018) have shown that finding plans by reduction to SAT is not limited to classical planning, but is competitive also for fully observable non-deterministic planning. This work extends these ideas to planning with partial observability. Specifically, we handle partial observability by requiring that during the execution of a plan, the same actions have to be taken in all indistinguishable circumstances. We demonstrate that encoding this condition directly leads to far better scalability than an explicit encoding of observations-to-actions mapping, for high numbers of observations.