Action Cook Prec: CleanHands Effects: Dinner Action Wrap Prec: Quiet Effects: Present Action Carry Prec: Effects: ~Garbage AND ~CleanHands Action Dolly Prec: Effects: ~Garbage AND ~Quiet Initial State: Garbage CleanHands Quiet
S0 Garbage Clean-Hands Quiet ~Dinner ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage Clean-Hands Quiet ~Dinner ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present ??
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap S3 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
Extract Plan for Present ^ ~Garbage at level S1 on next slide
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
Extract Plan for Present ^ ~Garbage at level S1 Answer: Carry and Wrap in parallel
Extract Plan for Present ^ ~Garbage ^ Dinner at level S1 on next slide FAIL!!!
S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
Extract Plan for Present ^ ~Garbage ^ Dinner at level S2 on next slide
S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap S2 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present
Extract Plan for Present ^ ~Garbage ^ Dinner at level S2 Answer: Wrap and Cook in parallel then Carry OR Answer: Cook then Carry and Wrap in parallel
Example: One-level plan exists for (P AND Q) but P and Q are mutex at S1 This is a very unusual case Action Act-1: Prec: Effects: P AND W Action Act-2: Prec: Effects: Q AND ~W
S0 A0 Act-1 Act-2 S1 P W ~W Q
S0 A0 Act-1 Act-2 S1 P W ~W Q
S0 A0 Act-1 Act-2 S1 P W ~W Q
S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q
S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q
S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q