Bounded Intention Planning Revisited.

s[v] = preo[v] s[w] = prvo[w] ∀w ∈ vars(prvo) s[Ov] = o s[Ow] = frozen ∀w ∈ vars(prvo) s[Cw] = v ∀w ∈ vars(prvo) We show that all operators o′ that interfere with Fire(o) are not applicable in s. Thus Fire(o) is the only applicable operator in Ts. Second, we show that for all these operators o′ ∈ Ts (except for Fire(o)), Ts already contains a necessary enabling set for o′ in s. Let u 6= Fire(o) be an arbitrary operator interfering with Fire(o). Whenever we mention o′ in the following, we refer to an operator o′ ∈ O, o′ 6= o.