The Graphplan Planner 38 Independent Actions: Examples Mr12 and Lar1: cannot occur together Mr12 deletes precondition r1 of Lar1 Mr12 and Mr21: cannot occur together Mr12 deletes positive effect r1 of Mr21 Mr12 and Mq21: may occur in same action layer r1 r2 q1 q2 a1 ar b2 bq ur uq r1 r2 q1 q2 a1 ar b2 bq ur uq aq br Mr12 Mq21 Lbr2 Lar1 Mr21 Mq12 Lbq2 Laq1 Uar1 Ubq2 P2P2 P1P1 A2A2
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