Simultaneous Representation of Knowledge and Belief for Epistemic Planning with Belief Revision

We propose a novel approach to the problem of false belief revision in epistemic planning. Our state representations are pointed Kripke models with two binary relations over possible worlds: one representing agents' necessarily true knowledge, and one representing agents' possibly false beliefs. State transition functions maintain S5n properties in the knowledge relation and KD45n properties in the belief relation. When new information contradicts an agent's beliefs, belief revision draws new possible worlds from the agent's knowledge relation. Our method also improves upon prior work by accommodating false announcements. We develop our system as an extension to the mA* action language, presenting transition functions for ontic, sensing, and announcement actions.