I discussed McLug at great speed towards the end of the class. Here are ways you can get more information on it:
You can look at the relevant section in the planning graph heuristics survey paper (that you had already printed):
or you can read an entire paper describing it.
http://rakaposhi.eas.asu.edu/dan-aij.pdf (journal version)
http://rakaposhi.eas.asu.edu/ICAPS0602BryceD.pdf (older conference version)
ps: Check out the CFP for a 2008 ICAPS workshop on planning under uncertainty, to get an overview of some of the
hot/provocative issues in the area: