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Reading for next class--reachability heuristics for planning

For the next class, read  the following paper

http://rakaposhi.eas.asu.edu/pgSurvey.pdf   (definitely upto page 61,
and preferably upto page 66. Before you die of shock,
note that the paper starts at page 47 ;-)

No summaries are needed--but you should read the paper before coming.
Since part of this material has been covered once in
471 (if you took it from me), I intend to go at a brisk pace (brisk
pace for rao is not unlike realtime for redwoods).