326 Chapter 14 Temporal Planning
Threats.
If K =∅, then every C
i
∈ K is a pending set of consistency conditions or
enabling conditions that are not yet entailed by the database . A resolver for this
flaw is a constraint c ∈ C
i
that is consistent with C. The refinement of consists of
the following updates:
C ← C ∪ c, for some c ∈ C
i
that is consistent with C
K ← K −{C
i
}
The TPS procedure is a general schema. It is able to handle concurrent actions
with interfering effects (see Exercise 14.6). It can be instantiated into a broad class
of planning algorithms. For example, one may consider flaws in some particular
order, either systematic and/or according to heuristics for guiding the search. One
may work on several resolvers at a time by updating with