 Goal-by-goal planning

A restricted goal-by-goal planning procedure chooses one subgoal, constructs a subplan for it without preparation motivated by other pending subgoals, then moves on while treating the earlier goal as protected. Destructive goal interaction in planning can defeat either ordering. Merely requiring the final plan to be a concatenation of subplans is a weaker condition: a subplan may already contain preparatory work useful to a later goal. A claimed impossibility must specify the stronger restriction rather than infer it from concatenation alone.