Temporal Action Graph (TA-Graph) INIT Level 1 Level 2 Level 3 Level 4 .澹回回 0 50 (-) (-) Inconsistent 0 120 precondition 100 220 220 Ordering Constraint NiT Level 1 Level 2 Level 3 Level 4 f6 H(6-ooo6 a 50 160 (-) (-) I Causal Constraint 0 120 a1<a4 Exclusive Constraints 0 (-) g a2< (-)5 INIT Level 1 Level 2 Level 3 Level 4 Temporal Action Graph (TA-Graph) f1 f2 f3 f4 f5 no-op f6 f3 f4 f5 f6 f9 f5 f6 f12 f5 f13 f12 f5 no-op no-op no-op no-op no-op a1 no-op no-op f7 f7 f7 no-op no-op a4 f10 a2 a no-op 3 0 0 0 0 0 [50] 50 [70] 120 [100] 220 [40] 160 50 50 50 (–) (–) (–) (–) 50 160 220 160 0 220 220 120 Inconsistent precondition 6 INIT Level 1 Level 2 Level 3 Level 4 Ordering Constraint f1 f2 f3 f4 f5 no-op f6 f3 f4 f5 f6 f9 f5 f6 f12 f5 f13 f12 f5 no-op no-op no-op no-op no-op a1 no-op no-op f7 f7 f7 no-op no-op a4 f10 a2 a no-op 3 0 0 0 0 0 [50] 50 [70] 120 [100] 220 [40] 160 50 50 50 (–) (–) (–) (–) 50 160 220 160 0 220 220 120 Causal Constraint • a1< a4 • a2< a3 Exclusive Constraints • a1< a2 • a2< a3 • a2< a4 Causal Constraint • a1< a4 • a2< a3 Exclusive Constraints • a1< a2 • a2< a3 • a2< a4