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STRIPS

    Definition – Minimal Plan

      Let (P,A,I,G) be a task. A plan ‹a1, . . . ,an› for the task is minimal if ‹a1, . . . , ai-1, ai+1, . . . ,an› is not a plan for any i.

    Definition – Optimal Plan

      Let (P,A,I,G) be a task. A plan ‹a1, . . . ,an› for the task is optimal if there is no plan with less than n actions


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