We sets up the DPG algorithm structure above the probabilistic PlanGraph which have the rapidly propagating ability. Combing the Dynamic Programming, with forward search method, get a optimal planning solution in finite time step.

• DPG算法建立在具有迅速传播能力的概率规划图（Probabilistic Graphplan）上，结合动态编程（Dynamic Programming），用前向搜索的方法来求最优规划解。