Precondition axioms (t action)=(t action-precondition EX: (implies(1 fly p1 jfk sfo) (1 plane-at jfk) 16.410/13, Programming SATPlan, Greg SullivanPrecondition Axioms • (t action) Ÿ (t action-precondition) • Ex: (implies (1 fly p1 jfk sfo) (1 plane-at jfk)) Oct. 22, 2003 16.410/13, Programming SATPlan, Greg Sullivan 11