Exercise 10.12

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 ${At}(P_{1}, x) \land {At}(P_{2}, x)$, 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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