Progression

• Planning as first-order theorem proving (Green 1969)

  computationally infeasible
  
  

• STRIPS (Fikes & Nilsson 1971)

  very hard
  
  

• Partial-order planning (Tate 1977, McAllester 1991, Smith & Peot 1993)

  can be more efficient, but still hard (Minton, Bresina, & Drummond 1994)
  
  

• Proposal: planning as propositional reasoning

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