the final version, we will better emphasize their value as it seems their importance was not properly conveyed

We would like to begin by highlighting two contributions of the paper we feel remained unnoticed by R#2 and R#3. Due to its generality it is a powerful tool and is indeed central in all our analysis. RTDP is a well known and practical algorithm. We thank the reviewer for his/her favorable review. Abstract/Line 124/Line 263 - will be corrected, thanks!