Discussion
What must be fixed before a planning problem can be encoded propositionally?
Answer: D
The encoding requires a horizon, since a propositional formula has finitely many variables and each time step needs its own copy of every fluent. Iterative deepening on the horizon recovers completeness. The order is what the solver determines, the initial state is given, and heuristics are internal to the solver. That the encoding is necessarily bounded, and the bound must be searched over, is the cost of the translation.
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