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T. ?. Vseffect and }. , Exit, p} AType : Treesuc&goright ACond : {¬f st(u) ? mhnb(u) ? ¬ct ? ¬f lr} ECond : {scs(T, f alse)} Etrace : {nu(u), lp(u) c)} VSEffect : {u ? nbpd 1 (u) f st ? f updt(f st, ?, {(u , true)})}, p.2

. Etrace, Exit, p} AType : Tree failed ACond : {¬f st(u) ? ¬ct ? ¬hcp(u)} ECond : {f lr(T, u) ? f lr} VSEffect, )))})}

. Etrace, Fail} AType : Backtrack ACond : {¬f st(u) ? hcp(u) ? f t(gcp(u)) ? (f lr ? ct)} ECond : {} VSEffect : {u ? gcp, ct ? (ct = f alse), f lr ? f alse} Etrace : {nu(u ), lp(u ), Redo, pd(u ), p.ch

A. Acond, VSEffect : {T ? T ? {y|y > v} ? {w}, u ? w, n ? n + 1, ct ? (ct ? f alse)} Etrace : {nu(v), lp(v), Redo, pd(v), ch(v)} trans(Ch, open(A,D)) :- agent(A), atdoor(A,D), closed(D), can_open(A,D), retract(closed(D))

R. Ch and A. , if c is the chrono, r a room and a an agent, %then d is a possible door where to go. %Remark: the predicate is resatisfiable as many times there are doors %in a room; the fluents are updated accordingly to the choosen door. chose_door, p.-connect