Adversarial reasoning under uncertainty using a deterministic planner

We have added a restricted subset of probabilistic reasoning to our deterministic adversarial reasoning technique, RAPSODI. This hybrid approach strikes a balance between the intractable complexities of computing a fully probabilistic representation, versus the inadequate expressiveness of a simpler deterministic representation. After a brief review of the basic adversarial planning algorithm, we describe how the improvements handle probabilistic actions, multiple possible worlds, and probabilistic contingencies.