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Automated Planning
book

Automated Planning

by Malik Ghallab, Dana Nau, Paolo Traverso
May 2004
Intermediate to advanced content levelIntermediate to advanced
635 pages
19h 46m
English
Morgan Kaufmann
Content preview from Automated Planning
6.3 The Graphplan Planner 123
In the rest of the chapter, we will denote the set of mutex pairs in A
i
as µA
i
, and
the set of mutex pairs in P
i
as µP
i
. Let us remark that:
dependency between actions as well as mutex between actions or propositions
are symmetrical relations, and
for i : P
i1
P
i
, and A
i1
A
i
.
Proposition 6.3 If two propositions p and q are in P
i1
and (p, q)/ µP
i1
, then (p, q)/
µP
i
. If two actions a and b are in A
i1
and (a, b)/ µA
i1
, then (a, b)/ µA
i
.
Proof Every proposition p in a level P
i
is supported by at least its no-op action α
p
.
Two no-op actions are necessarily independent. If p and q in P
i1
are such
that (p, q)/ µP
i1
, then (α
p
, α
q
)/ µA
i
. Hence, a nonmutex pair of propositions
remains nonmutex in the following level. Similarly, ...
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Publisher Resources

ISBN: 9781558608566