1. 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

2. S0 Garbage Clean-Hands Quiet ~Dinner ~Present

3. S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap

4. S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap

5. S0 Garbage Clean-Hands Quiet ~Dinner ~Present A0 Carry Dolly Cook Wrap S1 Garbage Clean-Hands Quiet ~Dinner ~Present

6. 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

7. 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

8. 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

9. 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

10. 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

11. 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

12. 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

13. 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

14. 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

15. 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

16. 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

17. 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

18. 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

19. 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

20. 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 ??

21. 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

22. S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap

23. S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap

24. S1 Garbage ~Garbage Clean-Hands ~Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A1 Carry Dolly Cook Wrap

25. 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

26. 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

27. 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

28. 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

29. 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

30. 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

31. 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

32. ~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap

33. ~Clean-Hands S2 Garbage ~Garbage Clean-Hands Quiet ~Quiet Dinner ~Dinner Present ~Present A2 Carry Dolly Cook Wrap

34. ~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

35. ~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

36. ~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

37. ~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

38. ~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

39. ~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

40. Extract Plan for Present ^ ~Garbage at level S1 on next slide

41. 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

42. Extract Plan for Present ^ ~Garbage at level S1 Answer: Carry and Wrap in parallel

43. Extract Plan for Present ^ ~Garbage ^ Dinner at level S1 on next slide FAIL!!!

44. 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

45. Extract Plan for Present ^ ~Garbage ^ Dinner at level S2 on next slide

46. 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

47. 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

48. 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

49. S0 A0 Act-1 Act-2 S1 P W ~W Q

50. S0 A0 Act-1 Act-2 S1 P W ~W Q

51. S0 A0 Act-1 Act-2 S1 P W ~W Q

52. S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q

53. S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q

54. S1 A1 S2 P Q W ~W Act-1 Act-2 P W ~W Q