Disjunctive Representations

--Allow disjunctive step, ordering and

auxiliary constraints in partial plans

< 1,In(A), ? > V < 1 ,In(B), ? >

1: Load(A)

1: Load(B)

In(x)@ ?

In(B)

In(A)

Load(A)

1: or

Load(B)

At(A,E)@1 V At(B,E)@1