Forward State-space Refinement

• Grow plan prefix by adding applicable actions

  • Complete, Monotonic
    • consideration of all executable prefixes
  • Progressive
    • elimination of unexecutable prefixes
  • Systematic
    • each component has a different prefix
  • Completely specified state
    • Easier to control?

0

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At(A,E)

At(B,E)

At(R,E)

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