In Section 8.4.3 we presented a planner created by Nilsson and his students at Stanford (Benson and Nilsson 1995). Teleo-reactive planning allows actions described as durative, i.e., that must continue to be true across time periods. Why might teleo-reactive planning be preferred over a STRIPS-like planner? Build a teleo-reactive planner in Prolog, Lisp or Java.