

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

![0_image_1.png](0_image_1.png) 
by another lower action which ensures that both sides of the table are on the oor. We

note that the plan does not care which of the agents (the one who lifts the LeftSide or the

```
RightSide) initially puts the block on the table.
                                                  
                                                  14
                                                    

```

We say that planning algorithm is sound if it generates only plans that are guaranteed to achieve the goals posed to it; complete algorithm is guaranteed to generate plan if

```
successful plan exists.
                       
                       15
                        
                          In the case of concurrent nonlinear plans, we will say that an
                                                                                            

```
