Returning to the post, I suspect that there is a lack of relevant mathematical theorems in this area. What is needed for example is a theorem which says something like:

"In a sufficiently general environment E the AI planning system must incorporate probabilistic reasoning to satisfy its goals."

Likewise a theorem characterising which environments require "asynchronous" planning architectures is probably a holy grail in this field.

Returning to the post, I suspect that there is a lack of relevant mathematical theorems in this area. What is needed for example is a theorem which says something like:

"In a sufficiently general environment E the AI planning system must incorporate probabilistic reasoning to satisfy its goals."

Likewise a theorem characterising which environments require "asynchronous" planning architectures is probably a holy grail in this field.