Past exam of the computer science course of the University of Oxford / 2019 / Artificial intelligence / 3 / c / Solution

Ground $b,x$ as distinct blocks. For $\mathrm{MoveToTable}(b,x)$, takeThus a clear block leaves its block support, makes that support clear, and joins the unlimited table. $\mathrm{Clear}(b)$ persists, and table availability is never deleted. Requiring $x$ to be a block excludes a redundant table-to-table action. The static predicates need not be stored as time-varying planning fluents.