(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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