This appendix shows the plans constructed by Cassandra for the examples in the body of the paper. Each plan consists of initial conditions, plan steps and goals. The initial conditions are shown at the top of the plan. Those that are unknown are shown as depending on a particular contingency. The plan steps are shown next. Each is shown with a number denoting its order in the plan. The numbers in parentheses show the order in which the steps were added to the plan. To the right of each step are its contingency labels. For brevity, the individual effects of each step are always omitted and the links that establish the step's enabling and secondary preconditions are often omitted.
Finally, at the bottom of the plan come the goal conditions. The goal is stated first then each contingency goal is shown with the links that establish it. As usual, contingency labels are to the right.