Building the Relaxed Plan Graph Start at the initial state Repeatedly apply all relaxed actions whose preconditions are satisfied Assert their (positive)effects in the next layer If all actions are applied and the goals are not all present in the final graph layer, Then the problem is unsolvable Distance Estimate Extracted From A Relaxed Plan Graph Current: In(A), Closed Goal: In(B) In(a) noop In(A) In(A) noop Closed noop Closed Move In B) ned noop Closed Opened Close Ope Layer 3 Layers correspond to successive time points layers indicate minimum time to achieve goalsBuilding the Relaxed Plan Graph ƒ Start at the initial state. ƒ Repeatedly apply all relaxed actions whose preconditions are satisfied. ƒ Assert their (positive) effects in the next layer. ƒ If all actions are applied and the goals are not all present in the final graph layer, Then the problem is unsolvable. Distance Estimate Extracted From A Relaxed Plan Graph ƒ Layers correspond to successive time points, ƒ # layers indicate minimum time to achieve goals. In(A) Closed Layer 1 ƒ Current: In(A), Closed Goal: In(B) Open noop noop In(A) Closed Opened Layer 2 In(B) noop noop Move Open noop Close In(A) Closed Opened Layer 3