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At x = n/2 there is a wall which divide the room in two parts. The two sub-rooms are connected by means of a hole in the mid wall positioned at y = n/2. The SQUARE-ALLEY is a variant of the SQUARE-HOLE, where there is an alley to connect the two sub-rooms. Initially the robot can be in any position, and the goal is the same as the one for the SQUARE-HOLE. In all cases, the distance is Manhattan from the goal state. t. , the SQUARE-ALLEY with SQUARE-HOLE). Blocksworld. The Blocksworld conformant domain [8] is a variant with three kinds of operators: put a block x from another block y onto the table; put a block x from a block y onto a different block z; put a block x from the table onto a block y.

19. SQUARE-HOLE and SQUARE-ALLEY domains. Harder navigation domains. , a GoWest action in (i, j, n − 1) leads to (i, j, 0)). Location (1, 1, 1) is occupied by a 1-dimensional cube, whose sides behave like walls. The goal is to reach (n/2, n/2, n/2) starting from {(n/2, n/2, n/2), (1 + n/2, n/2, n/2)}. The CUBE-TREASURE problem [1] is similar to the CUBE-OBSTACLE, except that a treasure is located at (1, 1, 1) instead of a wall. A pick-up action can always be attempted, and it succeeds if the position is the same of the treasure.

In this section we compare KACMBP with some of the most advanced competitor systems, focusing on DLVk , CPLAN, and CFF. We do not to directly include other relevant systems such as CGP, GPT, Q BF P LAN, CMBP, and HSCP. An indirect comparison with these systems, showing that they are somewhat less efficient than the ones considered here, can be derived from the analyses in [1,4,14,20,29]. The behavior of GPT (in terms of expanded nodes) can be directly obtained by the plots of the forward ∗ in Section 5.

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