Many variations on the theme..

Planner

TWEAK

UA MTC MTC -none- pre-order

SNLP /

UCPOP

McNonlin/

Pedestal

Causal proof arbitrary Contrib. Prot pre-satisfaction

Causal proof arbitrary Interval Prot. pre-satisfaction

TOCL

Causal proof arbitrary Contrib. Prot. pre-order

SNLP-UA

MTC MTC Contrib. Prot. unambig. ord.

Termination

Goal Sel.

Bookkeeping

Tractability

refinements

MTC

MTC

-none-

-none-

(Kambhampati, Knoblock & Yang, 1995)

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