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Relaxations and the Planning Graph

Two heuristics obtained by editing the action schemas, then a layered graph with mutual-exclusion links that yields three more heuristics and settles which of them may be trusted to underestimate.

IntermediateModule 330 min · 120 XP
An action schema losing its preconditions and then its delete list to produce two relaxed problems, followed by a planning graph growing level by level with mutex links drawn in as they appear and vanishing as the graph levels off.

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