Discussion
Why is conformant planning expensive?
Answer: C
A domain with n states has two to the n subsets, so the search space is exponentially larger even before any actions are considered. Compact representations of belief states and heuristics computed over them are what make it tractable in practice. Ordering, goal testing and plan length are secondary. An exponential increase in the size of the space, arising purely from removing an assumption, is the price of every step towards realism in this family.
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