We present an approach to non-deterministic planning under full observability via Answer Set Programming. The technique can synthesise compact policies, handle both fair and unfair actions simultaneously, and readily accommodate control knowledge and procedural domain constraints. We show that whereas compact controllers may yield sub-optimal behavior under a naive executor, optimality can be recovered under a smarter executor. The developed planner is succinct, elegant, and directly implementable, thus providing higher confidence of its correctness and ease of elaboration. Experimental results show that its performance is competitive.