Actions Successor state axioms in words P is true at time t+1 if either of the following is true 1. For some action that establishes p(has p as a postcondition) a. all of P's preconditions are satisfied at time t b. the action was taken at time t 2. Or, p was true at time t, and whatever action that was taken at time t doesn ' t undo p c.222003 16.410/13, Programming SATPlan, Greg SuActions Successor State axioms in words: P is true at time t+1 if either of the following is true: 1. For some action that establishes P (has P as a postcondition), a. all of P’s preconditions are satisfied at time t b. The action was taken at time t. 2. Or, P was true at time t, and whatever action that was taken at time t doesn’t undo P. Oct. 22, 2003 16.410/13, Programming SATPlan, Greg Sullivan 8