et al.1997] extends the Graphplan [Blum Furst1997]
algorithm to accept a richer plan description language. In its early
versions, this language was a subset of ADL that extends the STRIPS
formalism of Graphplan to allow for conditional and universally
quantified effects in operators. Until version 4.0, negation was
handled via the introduction of new predicates for the negated
preconditions and corresponding mutual exclusion rules; subsequent
versions handle it directly [Koehler1999]. We used the AIPS98
version of IPP as well as the later 4.0 version.
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