in the current state, its preconditions are true and some of its postconditions are false schema         f these conditions are not fulfilled, the operator is not applied  schemata and . .      n upper bound for the si e of the formulae in   igure    is sizeof 8 max +
oooss max + + + + + + sizeof + sizeof + sizeof + max + max which is of order s max +  o  s max + sizeof 0 1. Example 4.4 or the blocks world the encoding is as follows for yields the following formulae that indicate when operators are applicable.

0 , t onAB
0,1 onBA      clearB          ontableB        onBA       clearA 
l, t

1,1 2 t ontableAt  clearBt    onABt   clearBt onta ble Ar 2 t - 1 3 t 2,1 ontableBf  clearAf    onBAf    clearAf ontableBr 3,1 2, t - 1 f no operator is applicable, a transition to the successor state is made  schema .  , and otherwise the state stays the same schema ...

l,t 1,t 2, t 0,t+1 chemata  0.  and   .  yield the following formulae.

l ,0 1,t →     2,t      2,t →
l t chema   .  yields, for all are applied.

, the following formulae that describe when operators onABt  clearBt  →  o,t ontableAr 0,s          s,t     on ABi      clear At onBAt  clearAt  →  1,t on ta ble Be l,s        s,t    on BAt     clearBt clearBt     ontableAt   →   2,t 2,s        s,t      onta ble At      clear Bt            on ABt s,t      onta ble Bt 3, s nd finally schemata . and . say when operators are not applied.

ontableAt 0,1 ontableBi onBAi clearAi → 
l, l ,
on A B t 2,1 l t on BAt l , t 3 , 1 2 0, 2 1,2 2, 2 2 t 2, t 3, 2 2 The valuation of the propositional variables   i,s determines a conditional plan.  The procedure in igure e ecutes the implicitly represented plan.

口 3, t