Sanner, ScottBoutilier, Craig2015-12-100004-3702http://hdl.handle.net/1885/53008Many traditional solution approaches to relationally specified decision-theoretic planning problems (e.g., those stated in the probabilistic planning domain description language, or PPDDL) ground the specification with respect to a specific instantiationKeywords: Formal logic; Linearization; Specifications; Approximate linear programming; Decision-theoretic; First orders; First-order logic; International planning competitions; Markov decision process; MDPs; Planning problems; Practical solutions; Probabilistic pla First-order logic; MDPs; Planning200910.1016/j.artint.2008.11.0032016-02-24