 STRIPS

A representation for automated planning in which a state $S$ is a set of true ground facts and an action has a positive precondition set $P$, add set $A$ and delete set $D$. Under the closed-world assumption, facts absent from $S$ are false. The action applies when $P\subseteq S$ and producesNegative effects are delete-list entries; they do not require negative preconditions. A movement action must delete an object's old location as well as add its destination. Capacity and safety restrictions require explicit action conditions or auxiliary planning fluents; they do not follow automatically from an intended physical interpretation.