Lecture #19 looked at decision theoretic planning.
Notes are available in two formats:
The textbook covers this material, from a slightly different perspective, in Chapter 17, pages 613-630. If you are interested, this is worth a look.
There are also two very good papers which cover this and related material. These are:
C. Boutilier, T. Dean and S. Hanks, Decision-theoretic planning: structural assumptions and computational leverage, Journal of Artificial Intelligence Research, 11, 1-94, 1999.and
L. P. Kaelbling, M. L. Littman and A. R. Cassandra, Planning and acting in partially observable stochastic domains, Artificial Intelligence, 101, 99-134, 1998.