Complex Plans in the Fluent Calculus

Many problems addressed within the field of Cognitive Robotics and related areas can only be solved by complex plans including conditional and recursive actions as well as non-deterministic choice operators. In this paper we present a planning language which allows for the specification of complex plans. We define its semantics and give a provably complete and correct completed equational logic program with an unification complete equational theory. The approach is independent of the representation of states; they may be sets of propositional fluents as in the situation calculus or multisets of resources as in the fluent calculus. Finally, we present an instantiation within the fluent calculus