关键词: 条件规划，不确定性规划，量化布尔公式，编码

Abstract: This paper introduced the conditional planning problems and their associated planners, and analyzed logic based encoding methods. By analyzing translation based planning methods,whose targets are ctuantified boolean formulas, it introduced three different forms of quantified boolean formula encodings. Finally, it compared the above encodings,analyzed their respective advantages and disadvantages of two different translation mode based on propositional logic formulas and ctuantified boolean formulas,and then discussed the future research directions and trends on planning methods basal on quantified boolcan formulas.

Key words: Conditional planning, Nondctcrministic planning, Quantified boolcan formulas, Encoding