
| transition   | when conBC conBC conAC conAC conAC conAC conAC conAC   |
|--------------|--------------------------------------------------------|

| state       | 1:     |    |                       |
|-------------|--------|----|-----------------------|
| ENABLE onAB | clearA | => | -onAB ontableA clearB |
| ENABLE onAC | clearA | => | -onAC ontableA clearC |
| ENABLE onAD | clearA | => | -onAD ontableA clearD |
| ENABLE onBA | clearB | => | -onBA ontableB clearA |
| ENABLE onBC | clearB | => | -onBC ontableB clearC |
| ENABLE onBD | clearB | => | -onBD ontableB clearD |
| ENABLE onCA | clearC | => | -onCA ontableC clearA |
| ENABLE onCB | clearC | => | -onCB ontableC clearB |
| ENABLE onCD | clearC | => | -onCD ontableC clearD |
| ENABLE onDA | clearD | => | -onDA ontableD clearA |
| ENABLE onDB | clearD | => | -onDB ontableD clearB |
| ENABLE onDC | clearD | => | -onDC ontableD clearC |

state 2:

ENABLE onBA clearC clearB => -onBA -clearC onBC clearA

ENABLE ontableB clearA clearB => -ontableB -clearA onBA

ENABLE ontableC clearD clearC => -ontableC -clearD onCD

state 3:

ENABLE ontableA clearA clearB => -ontableA -clearB onAB

Figure 8: Enabled operators for each state all the possible congurations of the four blocks. The plan has three states. The enabled operators of each state s are applied repeatedly until no more operators are applicable, and then a transition to the successor state s + 1 is made. The enabled operators for each state are given in Figure 8. When exiting state 1, all blocks are on the table. In state 2, rst is moved on top of and is moved on top of D, and then is moved from on top of C. Finally in state 3, is moved on top of B.

