.GR 7 9 fill
edge from EXPLORE_ROOM to EXPLORE_ROOM label "Scan",
	to MOVING_NEAREST_NEW_ROOM label "Room explored || T > Tcritical",
	to PICKING_TRASH label "trash? & !Full",
	to DUMPING_TRASH label "bin? & Full";
same rank MOVING_NEAREST_BIN MOVING_NEAREST_TRASH;
same rank DUMPING_TRASH PICKING_TRASH;
edge from MOVING_NEAREST_TRASH to MOVING_NEAREST_TRASH label "Scan",
	to PICKING_TRASH label "See trash?",
	to EXPLORE_ROOM label "In Room? & T > T giveup",
	to MOVING_NEAREST_NEW_ROOM label "Not In Room? & T > T giveup";
edge from MOVING_NEAREST_BIN to MOVING_NEAREST_BIN label "Scan",
	to DUMPING_TRASH label "See a bin?",
	to EXPLORE_ROOM label "In Room? & T > T giveup",
	to MOVING_NEAREST_NEW_ROOM label "Not In Room? & T > T giveup";
edge from MOVING_NEAREST_NEW_ROOM to MOVING_NEAREST_NEW_ROOM label "Scan",
	to EXPLORE_ROOM label "In Room? & New(Room)",
	to PICKING_TRASH label "trash? & !Full",
	to DUMPING_TRASH label "bin? & Full";
edge from PICKING_TRASH to MOVING_NEAREST_BIN label "Full? & Known Bin",
	to EXPLORE_ROOM label  "Full? & No Known Bin",
	to MOVING_NEAREST_NEW_ROOM label "Full? & Not In Room & No Known Bin";
edge from DUMPING_TRASH to MOVING_NEAREST_TRASH label "Known Trash",
	to EXPLORE_ROOM label  "No Known Trash",
	to MOVING_NEAREST_NEW_ROOM label "Not In Room & No Known Trash";
.GE