UCPOP: a sound, complete, partial order planner for ADL
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..., snlp [30], ucpop [36]), the current state can be calculated trivially from the known initial state and knowledge of the deterministic operators....
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"UCPOP: a sound, complete, partial o..." refers background in this paper
...Elaborating on the work of Tate [1977], McAllester [1991], and others we de ne: De nition A causal link is a quadruple Si; e; r; Sj , denoted Sie;r !Sj , where r is a (possibly negated) precondition of Sj (or a precondition of one of its e ects), and e is an e ect of Si, and 9q 2 e such that q uni es with r. To aid in its decision-making, ucpop maintains a list of causal links from e ects of steps to goals and subgoals. These links represent the assumptions upon which a plan P relies and are a crucial aspect of partially ordered plans. De nition A plan is quadruple S;B;O;L , where S is a set of steps, B is a set of binding constraints on free variables in S, O is a set of ordering constraints fSi < Sj j Si; Sj 2 Sg, and L is a set of causal links. Pednault's plans [1986] only included steps and ordering constraints....
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...Elaborating on the work of Tate [1977], McAllester [1991], and others we de ne: De nition A causal link is a quadruple Si; e; r; Sj , denoted Sie;r !Sj , where r is a (possibly negated) precondition of Sj (or a precondition of one of its e ects), and e is an e ect of Si, and 9q 2 e such that q uni es with r....
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