11.9 Discussion and Historical Remarks 257
will never generate a plan of more than four actions. However, this approach is
less satisfying than the domain-independent control rule that can be written in
STL planning (see Section 10.6). A more general solution would be to extend
the planning language to include the predicate symbols, function symbols,
and attached procedures needed to perform integer arithmetic. If we do this,
then we can put into the initial state the atom count(0) and modify every
operator to have the preconditions count(i) and i ≤ 5. This is basically the
same approach that we proposed for classical planning in Section 2.4.8.
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Suppose we want to require that the number of times r1 visits loc1 must be at
least three times the number ...