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We saw that planning graphs can handle only propositional actions. What if we want to use planning graphs for a problem with variables in the goal, such as At(P1,x)At(P2,x), where x is assumed to be bound by an existential quantifier that ranges over a finite domain of locations? How could you encode such a problem to work with planning graphs?

We saw that planning graphs can handle only propositional actions. What if we want to use planning graphs for a problem with variables in the goal, such as At(P1,x)At(P2,x), where x is assumed to be bound by an existential quantifier that ranges over a finite domain of locations? How could you encode such a problem to work with planning graphs?





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