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Moreover, during planning, they need to consider continuous feasibility checks for executability of the plans in the real world. Conditional planning is concerned with reaching goals from an initial state, in the presence of incomplete knowledge and partial observability, by considering all contingencies and by utilizing sensing actions to gather relevant knowledge when needed. A conditional plan is essentially a tree of actions where each branch of the tree represents a possible execution of actuation actions and sensing actions to reach a goal state. Hybrid conditional planning extends conditional planning by integrating feasibility checks into executability conditions of actions. We introduce a parallel offline algorithm, called HCPlan, for computing hybrid conditional plans. HCPlan relies on modeling deterministic effects of actuation actions and non-deterministic effects of sensing actions in the causality-based action language [Formula: see text]. Branches of a hybrid conditional plan are computed in parallel using a SAT solver, where continuous feasibility checks are performed as needed. We develop a comprehensive benchmark suite and introduce new evaluation metrics for hybrid conditional planning. We evaluate HCPlan with extensive experiments in terms of computational efficiency and plan quality. We perform experiments to compare HCPlan with other related conditional planners and approaches to deal with contingencies due to incomplete knowledge. We further demonstrate the applicability and usefulness of HCPlan in service robotics applications, through dynamic simulations and physical implementations. <\/jats:p>","DOI":"10.1177\/0278364920963783","type":"journal-article","created":{"date-parts":[[2020,10,20]],"date-time":"2020-10-20T01:41:24Z","timestamp":1603158084000},"page":"594-623","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":8,"title":["Hybrid conditional planning for robotic applications"],"prefix":"10.1177","volume":"40","author":[{"given":"Ahmed","family":"Nouman","sequence":"first","affiliation":[{"name":"Faculty of Engineering and Natural Sciences, Sabanci University, \u0130stanbul, Turkey"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6644-3937","authenticated-orcid":false,"given":"Volkan","family":"Patoglu","sequence":"additional","affiliation":[{"name":"Faculty of Engineering and Natural Sciences, Sabanci University, \u0130stanbul, Turkey"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8384-7810","authenticated-orcid":false,"given":"Esra","family":"Erdem","sequence":"additional","affiliation":[{"name":"Faculty of Engineering and Natural Sciences, Sabanci University, \u0130stanbul, Turkey"}]}],"member":"179","published-online":{"date-parts":[[2020,10,19]]},"reference":[{"key":"bibr1-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1080\/0952813X.2018.1544280"},{"key":"bibr2-0278364920963783","doi-asserted-by":"publisher","DOI":"10.3390\/app10051665"},{"key":"bibr3-0278364920963783","first-page":"1623","volume-title":"Proceedings of the 21st International Jont Conference on Artifical Intelligence (IJCAI\u201909)","author":"Albore A","year":"2009"},{"key":"bibr4-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40564-8_13"},{"key":"bibr5-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(99)00071-5"},{"key":"bibr6-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528255"},{"key":"bibr7-0278364920963783","first-page":"948","volume-title":"Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence (IJCAI 99)","author":"Baral C","year":"1999"},{"key":"bibr8-0278364920963783","first-page":"509","volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence","author":"Baral C","year":"2001"},{"key":"bibr9-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2012.2200552"},{"key":"bibr10-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2015.03.005"},{"key":"bibr11-0278364920963783","first-page":"1936","volume-title":"Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI 2011)","author":"Bonet B","year":"2011"},{"key":"bibr12-0278364920963783","first-page":"2235","volume-title":"Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence","author":"Bonet B","year":"2014"},{"key":"bibr13-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1613\/jair.3711"},{"key":"bibr14-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v37i3.2669"},{"key":"bibr15-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1869"},{"key":"bibr16-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-04238-6_29"},{"key":"bibr17-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908097884"},{"key":"bibr18-0278364920963783","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181749"},{"key":"bibr19-0278364920963783","unstructured":"Colledanchise M, Almeida D, \u00d6gren P (2016) Towards blended reactive planning and acting using behavior trees. 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