A contingent planning problem P, which is a  non-deterministic search problem in belief space, is compiled into a non-deterministic problem X(P) in state space, whose literals represent beliefs over P. The planner CLG (Closed-Loop Greedy Planner) accepts a contingent planning problem P with non-deterministic actions, and solves it by using the translation X(P) for keeping track of the beliefs, and a suitable strenghtening relaxation X+(P) for selecting the actions to apply next.

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