A Planner Called R

That is, it does not do Fikes and Nilsson (1971) (called forwardchaining, something like "to achieve g, try to achieve g This factor seemed to be crucial in making [1998]). Briefly speaking, given a conjunction our algorithm effective on some of of simple goals, it selects one of them to work domains at the competition. In general, some of goal based on the actions that have this these conditions can contain variables, and simple goal as one of their effects and recursively these variables are eventually grounded by tries to achieve the new goal. If there is no user-provided information, on starting up is the initial state description. If all In comparison, our algorithm does not of them are true already, then it performs the modify the initial state description. The planner then selects an action maintains a global list Γ that represents the that can make g true; consider first the conjunction sequence of actions that the planner has found of all ground preconditions of this to this point.