Init(Tire(Flat) ∧ Tire(Spare) ∧ At(Flat, Axle) ∧ At(Spare, Trunk))
Goal(At(Spare, Axle))
Action(Remove(obj, loc),
PRECOND: At(obj, loc)
EFFECT: ¬ At(obj, loc) ∧ At(obj, Ground))
Action(PutOn(t, Axle),
PRECOND: Tire(t) ∧ At(t, Ground) ∧ ¬ At(Flat, Axle)
EFFECT: ¬ At(t, Ground) ∧ At(t, Axle))
Action(LeaveOvernight,
PRECOND:
EFFECT: ¬ At(Spare, Ground) ∧ ¬ At(Spare, Axle) ∧ ¬ At(Spare, Trunk)
∧ ¬ At(Flat, Ground) ∧ ¬ At(Flat, Axle) ∧ ¬ At(Flat, Trunk))
Figure ?? The simple spare tire problem.