This is the plan shown in Figure 6 and Figure 7 and discussed inSection 4.1.1. Note that both moving steps and both dunking steps are always possible, but each is only necessary in one outcome of the uncertainty. A fail-safe plan (see Section 6.2) is therefore possible.
Initial: When [UNK0S: O2] (CONTAINS PACKAGE-2 BOMB) When [UNK0S: O1] (CONTAINS PACKAGE-1 BOMB) (AND (AT PACKAGE-1 RUG) (AT PACKAGE-2 RUG)) Step 1 (5): (X-RAY PACKAGE-2) (KNOW-IF (CONTAINS PACKAGE-2 BOMB)) Step 2 (3): (X-RAY PACKAGE-1) (KNOW-IF (CONTAINS PACKAGE-1 BOMB)) Step 3 (2): (DECIDE UNK0S) (and (CONTAINS PACKAGE-2 BOMB) T ) => [UNK0S: O2] (and (CONTAINS PACKAGE-1 BOMB) T ) => [UNK0S: O1] 1 -> (KNOW-IF (CONTAINS PACKAGE-2 BOMB)) 2 -> (KNOW-IF (CONTAINS PACKAGE-1 BOMB)) Step 4 (7): (MOVE RUG TOILET PACKAGE-1) YES: [UNK0S: O1] (AND (NOT (AT PACKAGE-1 RUG)) (AT PACKAGE-1 TOILET)) 0 -> (AT PACKAGE-1 RUG) Step 5 (6): (MOVE RUG TOILET PACKAGE-2) YES: [UNK0S: O2] (AND (NOT (AT PACKAGE-2 RUG)) (AT PACKAGE-2 TOILET)) 0 -> (AT PACKAGE-2 RUG) Step 6 (4): (DUNK PACKAGE-2) YES: [UNK0S: O2] (WET PACKAGE-2) 5 -> (AT PACKAGE-2 TOILET) (DISARMED BOMB) 0 -> (CONTAINS PACKAGE-2 BOMB) NO : [UNK0S: O1] Step 7 (1): (DUNK PACKAGE-1) YES: [UNK0S: O1] (WET PACKAGE-1) 4 -> (AT PACKAGE-1 TOILET) (DISARMED BOMB) 0 -> (CONTAINS PACKAGE-1 BOMB) NO : [UNK0S: O2] Goal: (DISARMED BOMB) GOAL YES: [UNK0S: O2] 6 -> (DISARMED BOMB) NO : [UNK0S: O1] GOAL YES: [UNK0S: O1] 7 -> (DISARMED BOMB) NO : [UNK0S: O2] Complete!