

![0_image_0.png](0_image_0.png) 
(a)

![0_image_1.png](0_image_1.png)

![0_image_2.png](0_image_2.png) 
described in section 2 of this paper, and with a parallel planning graph grown until the first level where the top-level goals are present without being mutex. All times are in seconds.

## 4.1 Comparing Altaltp **With Competing Approaches**

In the first set of experiments we have compared the performance of our planner with the results obtained by running STAN (Long & Fox, 1999), Blackbox (Kautz & Selman,