Example Rules: Tlplan (LTL) rules
TLPlan controls a forward state-space planner
Rules are written on state sequences, using the linear temporal logic (LTL)
LTL is an extension of prop logic with temporal modalities U until [] always
If you achieve on(B,A), then preserve it until On(C,B) is achieved:
[] ( on(B,A) => on(B,A) U on(C,B) )