
| ( : in it  (p1 a b)              | (q1 a c)   |
|----------------------------------|------------|
| (p2 a b)                         | (q2 a c)   |
| (p3 a b)                         | (q3 a c)   |
| (p4 a b)                         | (q4 a c)   |
| (p5 a b)                         | (q5 a c)   |
| (p6 a b)                         | (q6 a c)   |
| (p7 a b)                         | (q7 a c)   |
| (p8 a b)                         | (q8 a c)   |
| (p9 a b)                         | (q9 a c)   |
| (p 10 a b)                       | (q10 a c)  |
| (p 11 a b)                       | (q11 a c)  |
| (p12 a b)                        | (q12 a c)  |
| (p13 a b)                        | (q13 a c)  |
| (p 14 a b)                       | (q14 a c)  |
| (p 15 a b)                       | (q15 a c)  |
| (p16 a b)                        | (q16 a c)  |
| (p 17 a b)                       | (q17 a c)  |
| (p18 a b)                        | (q18 a c)  |
| (p 19 a b)                       | (q19 a c)  |
| (p20 a b)                        | (q20 a c)) |
| (:goal (and (p1 a c) (q1 a b)))) |            |

## References

Blum, A., & Furst, M. (1995). Fast Planning through Plan-graph Analysis. In IJCAI.

Bundy, A., Burstall, R., Weir, S., & Young, R. (1980). Artificial Intelligence: An Introductory Course. Edinburgh University Press.

Fikes, R., & Nilsson, N. (1971). STRIPS: A New Approach to the Application of Theorem¬
Proving to Problem-Solving. Artificial Intelligence, 2 (3).

Gerevini, A., & Schubert, L. (1996a). Accelerating Partial Order Planners: Some Techniques for Effective Search Control and Pruning. JAIR, 5, 95 137.

Gerevini, A., & Schubert, L. (1996b). Computing Parameter Domains as an Aid to Planning.

In AIPS-96.

Gerevini, A., & Schubert, L. (1998). Inferring State Constraints for Domain-Independent Planning. In AAAI.

Grant, T. J. (1996). Inductive Learning of Knowledge-based Planning Operators. Ph.D.

thesis, Rijksuniversiteit Limburg de Maastricht.

Kautz, H., & Selman, B. (1998). The Role of Domain Specific Knowledge in the Planning as Satisfiability Framework. In The Fourth International Conference on Artificial Intelligence Planning Systems.