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(Sensory Graph Plan) [Weld et al.1998] also extends Graphplan to a richer domain description language, primarily focusing on uncertainty and sensing. As with IPP, some of this transformation is performed using expansion techniques to remove quantification. SGP also directly supports negated preconditions and conditional effects. SGP tends to be slower (it is implemented in Common Lisp instead of C) than some of the other Graphplan based planners. We used SGP version 1.0b.

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