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. Preds, Firsts : ([],false) ([1],false) ([1,1],false), apl0) ([1,1apl0) . Clauses : ([],[g]) ([1],[c3]) ([1,1]false) . Comp tree: false . Fld tree : false . Go to bkp: false . FibSeq: [(30,1), 2003.

P. Exitt, Holds(Cuno(u), z) ? ¬Holds(F st(u), z) ? ¬Holds(Ct, z) ? ¬Holds(Bkt, z) ? ¬Holds(F lr(, p.? mhnb(u) inf luence(scs(t

A. Failu and P. , Holds(Cuno(u), z) ? ¬Holds(F st(u), z) ? ¬Holds(Ct, z) ? ¬Holds(Bkt, z) ? Holds(F lr

. Cuno, Cuno(u) Action FailRdo P oss(F ailD, Holds(Cuno(u), z) ? ¬Holds(F st(u), z) ? ¬Holds(Ct, z) ? ¬Holds(Bkt, z) ? Holds(F lr(p), z) ? hcp

?. {t-ree, y)|y > v} ? {Cl(y, )|y > v} ? Ct ? Bkt(v) Action RdoF P oss(RedoD

?. {t-ree, y)|y > v} ? {Cl(y, )|y > v} ? Ct ? Bkt(v) Action Rdo2

P. Redot, Holds(Cl(v, cl)) ? Holds(num(n)) ? (w = ncpd 1 (v) ? pd = ncpd 2 (w))

?. {t-ree, y, )|y > v} ? {Cl(y, )|y > v} ? {F st(y)|y > v} ? Ct ? Bkt(v) Action Final P oss(F inal, Holds(Cuno(u), z) ? ¬Holds(F st(u), z) ? Holds(Ct, z) ? ¬Holds(Bkt, z) ? (u = [] ? ¬hcp

-. Oss, State(s)) ? State(Do(Init,[initState, goal(q)

. Solve-p-oss, ? (?q)(Holds(Goal(q {c}), z) The Solve Precondition Axiom states that the only precondition for the Solve action on the built-in constraint c is that this constraint should be in the goal

-. Oss, State(Do(Solve, [solve, bic(c), goal(q)

-. Oss, State(s)) ? Holds(U dcs(u), State(s))? Holds(N extId(n), State(s)) ?, Introduce

A. Oss, ? (?e)(?b)(M atch(h k , h R , u 1, id(u 2 ), r), z) ? Bics(b, z)? Entails(b, e, g))

-. Oss, State(s)) ? Holds(Goal(q), State(s))? M atch(h k , h R , u 1 , u 2 , e, z) ? State(Do(Apply, [apply, rule(r@h k \h R ? g|d, State(s))? Holds(U dcs(u 1 u 2 u), p.goal udc bic

. Fail-p-oss, Holds(goal(q), z)? ?P oss(Apply, [r, h k , h R , g

-. Oss, State(Do(F ail, [fail, goal(q)], s)) = State(s) Observational Semantics Pickup P oss(P ickup, [a, o, r], s) ? Holds(AgentInRoom(a, r), s) ? Holds(ObjectInRoom(o, r), s)? ¬Holds(Carries

P. Drop, Holds(Carries(a, o)) ? Holds, AgentInRoom

P. Drop, State(Do(Drop, [drop, a, o, r], s)) = State(s) ? Carries

P. Got-odoor, Holds(AgentInRoom(a, r), s)? (?r )Connects(r, d, r ) ? ¬(?d )Holds(AtDoor

P. Got-odoor, State(Do(GoT oDoor, [walk, a, d], s)) = State(s) ? AtDoor

P. Enterroom, Holds(AgentInRoom(a, r))? Holds(AtDoor(a, d), s) ? Connects(r, d, r ) ? ¬Holds(Closed(d), s))

P. Enterroom, State(Do(EnterRoom, [walk, a, r ], s)) = State(s)?AgentInRoom(a, r )? AgentInRoom

P. Open, Holds(AtDoor(a, d), s) ? Holds(HasKeyCode(a, d), s)? Holds(Closed(d), s)

P. Open, State(Do(Open, [open, a, d], s)) = State(s) ? Closed(d)

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