In particular, we assume an axiomatization of the domain in terms of situation calculus, using what is essentially Reiter's solution to the frame problem, in terms of the completion of the axioms defining the state change. Uncertainty is handled in terms of the independent choice logic, which allows for independent choices and a logic program that gives the consequences of the choices. Within this logic, we can define the expected utility of a conditional plan, based on the axiomatization of the actions, the sensors and the utility.
Sensors can be noisy and actions can be stochastic.
The planning problem is to find the plan with the highest expected utility.