

![0_image_0.png](0_image_0.png)

![0_image_1.png](0_image_1.png)

![0_image_2.png](0_image_2.png)

Figure 17 gives graphical depiction of the PSO for the DelC action (shown as 2TBN

![0_image_3.png](0_image_3.png)

in Figure 16). The three contexts :RHC RHC^Loc and RHC^:Loc are represented using decision tree. At the leaf of each branch in the decision tree is the stochastic eect

(set of change sets and associated probabilities) determined by the corresponding context.

context can hold in any state s the transition distribution for the action at any state s is For example, when RHC ^ Loc holds, the action has four possible eects: the robot loses

![0_image_4.png](0_image_4.png)

events (we discuss this further in Section 4.2.4). 

