Empirical Evaluation: Inter-Planner Comparison

We first compare CAltAlt and $POND$ with several planners on our conformant domains, then compare $POND$ with the conditional planners on the conditional domains. Our purpose in this section is to identify the advantages of our techniques over the state of the art planners. We end the section with a discussion of general conclusions drawn from the evaluation.

Table 7: Comparison of planner features.

Planner	Search Space	Search Direction	Conditional	Heuristic	Implementation
CAltAlt	Belief Space	Backward		Planning Graph	C
$POND$	Belief Space	Forward	$\surd$	Planning Graph	C
MBP	Belief Space	Forward/Backward	$\surd$	Cardinality	C
KACMBP	Belief Space	Forward		Cardinality	C
CGP	Planning Graph	Backward		Planning Graph	Lisp
SGP	Planning Graph	Backward	$\surd$	Planning Graph	Lisp
GPT	Belief Space	Forward	$\surd$	State Space Plans	C
YKA	Belief Space	Backward	$\surd$	Cardinality	C
CFF	Belief Space	Forward		Planning Graph	C