PPT Slide

Causation

Precondition

Establishment

Demotion

Promotion

Confrontation

(q)

p => ¬ q

Arbitration

p => ¬ q

r@s

¬ p@t

Preservation

Precondition

(q)

p => ¬ q

r => q

r@s

p => ¬ q

r@s

p => ¬ q

r@s

Plan Space Refinement: Example 3

s

t

t

t

t

t

s

s

s

u

u

u

u

u

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