Discussion
What is a mutex relation in a planning graph?
Answer: C
Two actions are mutually exclusive if one deletes the other's precondition or effect, or if their preconditions are mutex, and the relation propagates through the layers. It records the interactions the relaxation ignores. Ordering constraints, deletion and variable constraints are different notions. Capturing pairwise incompatibility, without attempting full consistency, is the compromise that keeps the construction polynomial.
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