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Why does the planning graph only record pairwise exclusions?

  • A.Larger sets are never mutually exclusive in practice
  • B.The extraction algorithm cannot use any higher order exclusions
  • C.Pairwise exclusion is sufficient to detect every conflict
  • D.Checking larger sets would make the construction intractable

Answer: D

Considering triples and larger subsets would raise the cost sharply, so the construction settles for pairs and accepts that some conflicts are detected only during extraction. Larger conflicts certainly exist and the algorithm could in principle use them. Choosing the level of consistency at which the cost is still polynomial is the same decision as choosing arc rather than path consistency in a constraint problem.

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