Discussion
What is a planning graph?
Answer: B
The graph builds alternating fact and action layers, recording which pairs cannot hold or occur together, and is constructed in polynomial time. It supports both a strong heuristic and the GraphPlan extraction algorithm. State graphs, constraint graphs and task hierarchies are different structures. A polynomial structure that bounds the solution and guides the search, without solving the problem, is an unusually productive device. Reading the definition literally, rather than recalling a formula, is the reliable route through questions of this shape.
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