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Cargo(C1) Cargo(C2) Plane(P1) Plane(P2) Airport(JFK) Airport(SFO)) Goal(At(C1, JFK) At(C2, SFO)) Action Load(c, p, a), Action Unload(c, p, a), Action(Fly(p, from, to), PRECOND: At(c, a) At(p,
Cargo(C1) Cargo(C2) Plane(P1) Plane(P2) Airport(JFK) Airport(SFO)) Goal(At(C1, JFK) At(C2, SFO)) Action Load(c, p, a), Action Unload(c, p, a), Action(Fly(p, from, to), PRECOND: At(c, a) At(p, a) ^ Cargo(c) Plane(p) Airport(a) EFFECT: At(c, a) ^ In(c, p)) A Plane(p) A A Airport(a) PRECOND: In(e, p) At(p, a) Cargo(c) Plane(p) EFFECT: At(e, a) -In(c, p)) PRECOND: At(p, from) Plane(p) Airo)rt(from) Airport(to) EFFECT: At(p, from) At(p, to)) Figure 10.1 A PDDL description of an air cargo transportation planning
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