Discussion
What is the drawback of the satisfiability encoding of planning?
Answer: A
Each time step requires a copy of every fluent and every action variable, so a long horizon produces a formula of millions of variables. Compact encodings and parallel semantics, allowing several non-interfering actions per step, mitigate it. Negation, plan length and preconditions are handled correctly. A translation whose size grows with a parameter that must be searched over is one whose practicality depends entirely on how large that parameter must be.
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