id	sid	tid	token	lemma	pos
bracis-28353	1	1	specifying	specify	VERB
bracis-28353	1	2	preferences	preference	NOUN
bracis-28353	1	3	over	over	ADP
bracis-28353	1	4	 	 	SPACE
bracis-28353	1	5	policies	policy	NOUN
bracis-28353	1	6	using	use	VERB
bracis-28353	1	7	branching	branch	VERB
bracis-28353	1	8	time	time	NOUN
bracis-28353	1	9	temporal	temporal	ADJ
bracis-28353	1	10	logic	logic	NOUN
bracis-28353	1	11	|	|	NOUN
bracis-28353	1	12	springer	springer	NOUN
bracis-28353	1	13	nature	nature	PROPN
bracis-28353	1	14	link	link	PROPN
bracis-28353	1	15	(	(	PUNCT
bracis-28353	1	16	formerly	formerly	ADV
bracis-28353	1	17	springerlink	springerlink	NOUN
bracis-28353	1	18	)	)	PUNCT
bracis-28353	1	19	skip	skip	VERB
bracis-28353	1	20	to	to	ADP
bracis-28353	1	21	main	main	ADJ
bracis-28353	1	22	content	content	NOUN
bracis-28353	1	23	advertisement	advertisement	NOUN
bracis-28353	1	24	log	log	NOUN
bracis-28353	1	25	in	in	ADP
bracis-28353	1	26	menu	menu	NOUN
bracis-28353	1	27	find	find	VERB
bracis-28353	1	28	a	a	DET
bracis-28353	1	29	journal	journal	NOUN
bracis-28353	1	30	publish	publish	VERB
bracis-28353	1	31	with	with	ADP
bracis-28353	1	32	us	we	PRON
bracis-28353	1	33	track	track	VERB
bracis-28353	1	34	your	your	PRON
bracis-28353	1	35	research	research	NOUN
bracis-28353	1	36	search	search	NOUN
bracis-28353	1	37	cart	cart	NOUN
bracis-28353	1	38	home	home	NOUN
bracis-28353	1	39	intelligent	intelligent	ADJ
bracis-28353	1	40	systems	system	NOUN
bracis-28353	1	41	conference	conference	NOUN
bracis-28353	1	42	paper	paper	NOUN
bracis-28353	1	43	specifying	specify	VERB
bracis-28353	1	44	preferences	preference	NOUN
bracis-28353	1	45	over	over	ADP
bracis-28353	1	46	 	 	SPACE
bracis-28353	1	47	policies	policy	NOUN
bracis-28353	1	48	using	use	VERB
bracis-28353	1	49	branching	branch	VERB
bracis-28353	1	50	time	time	NOUN
bracis-28353	1	51	temporal	temporal	ADJ
bracis-28353	1	52	logic	logic	NOUN
bracis-28353	1	53	conference	conference	NOUN
bracis-28353	1	54	paper	paper	NOUN
bracis-28353	1	55	first	first	ADV
bracis-28353	1	56	online	online	ADV
bracis-28353	2	1	:	:	PUNCT
bracis-28353	2	2	12	12	NUM
bracis-28353	2	3	october	october	NOUN
bracis-28353	2	4	2023	2023	NUM
bracis-28353	3	1	pp	pp	ADP
bracis-28353	3	2	128–143	128–143	NUM
bracis-28353	3	3	cite	cite	VERB
bracis-28353	3	4	this	this	DET
bracis-28353	3	5	conference	conference	NOUN
bracis-28353	3	6	paper	paper	NOUN
bracis-28353	3	7	access	access	NOUN
bracis-28353	3	8	provided	provide	VERB
bracis-28353	3	9	by	by	ADP
bracis-28353	3	10	university	university	PROPN
bracis-28353	3	11	of	of	ADP
bracis-28353	3	12	notre	notre	PROPN
bracis-28353	3	13	dame	dame	PROPN
bracis-28353	3	14	hesburgh	hesburgh	PROPN
bracis-28353	3	15	library	library	PROPN
bracis-28353	3	16	download	download	PROPN
bracis-28353	3	17	book	book	NOUN
bracis-28353	3	18	pdf	pdf	PROPN
bracis-28353	3	19	download	download	NOUN
bracis-28353	3	20	book	book	NOUN
bracis-28353	3	21	epub	epub	PROPN
bracis-28353	3	22	intelligent	intelligent	ADJ
bracis-28353	3	23	systems	system	NOUN
bracis-28353	3	24	(	(	PUNCT
bracis-28353	3	25	bracis	bracis	NOUN
bracis-28353	3	26	2023	2023	NUM
bracis-28353	3	27	)	)	PUNCT
bracis-28353	3	28	specifying	specify	VERB
bracis-28353	3	29	preferences	preference	NOUN
bracis-28353	3	30	over	over	ADP
bracis-28353	3	31	 	 	SPACE
bracis-28353	3	32	policies	policy	NOUN
bracis-28353	3	33	using	use	VERB
bracis-28353	3	34	branching	branch	VERB
bracis-28353	3	35	time	time	NOUN
bracis-28353	3	36	temporal	temporal	ADJ
bracis-28353	3	37	logic	logic	NOUN
bracis-28353	3	38	download	download	NOUN
bracis-28353	3	39	book	book	NOUN
bracis-28353	3	40	pdf	pdf	PROPN
bracis-28353	3	41	download	download	NOUN
bracis-28353	3	42	book	book	PROPN
bracis-28353	3	43	epub	epub	PROPN
bracis-28353	3	44	warlles	warlles	PROPN
bracis-28353	3	45	carlos	carlos	PROPN
bracis-28353	3	46	costa	costa	PROPN
bracis-28353	3	47	machado9	machado9	PROPN
bracis-28353	3	48	,	,	PUNCT
bracis-28353	3	49	viviane	viviane	NOUN
bracis-28353	3	50	bonadia	bonadia	PROPN
bracis-28353	3	51	dos	do	NOUN
bracis-28353	3	52	santos10	santos10	NOUN
bracis-28353	3	53	,	,	PUNCT
bracis-28353	3	54	leliane	leliane	PROPN
bracis-28353	3	55	nunes	nunes	PROPN
bracis-28353	3	56	de	de	X
bracis-28353	3	57	barros10	barros10	PROPN
bracis-28353	3	58	&	&	CCONJ
bracis-28353	3	59	…	…	PUNCT
bracis-28353	3	60	maria	maria	PROPN
bracis-28353	3	61	viviane	viviane	PROPN
bracis-28353	3	62	de	de	PROPN
bracis-28353	3	63	menezes11	menezes11	PROPN
bracis-28353	3	64	  	  	SPACE
bracis-28353	3	65	show	show	VERB
bracis-28353	3	66	authors	author	NOUN
bracis-28353	3	67	part	part	NOUN
bracis-28353	3	68	of	of	ADP
bracis-28353	3	69	the	the	DET
bracis-28353	3	70	book	book	NOUN
bracis-28353	3	71	series	series	NOUN
bracis-28353	3	72	:	:	PUNCT
bracis-28353	3	73	lecture	lecture	NOUN
bracis-28353	3	74	notes	note	NOUN
bracis-28353	3	75	in	in	ADP
bracis-28353	3	76	computer	computer	NOUN
bracis-28353	3	77	science	science	NOUN
bracis-28353	3	78	(	(	PUNCT
bracis-28353	3	79	(	(	PUNCT
bracis-28353	3	80	lnai	lnai	ADJ
bracis-28353	3	81	,	,	PUNCT
bracis-28353	3	82	volume	volume	NOUN
bracis-28353	3	83	14195	14195	NUM
bracis-28353	3	84	)	)	PUNCT
bracis-28353	3	85	)	)	PUNCT
bracis-28353	3	86	included	include	VERB
bracis-28353	3	87	in	in	ADP
bracis-28353	3	88	the	the	DET
bracis-28353	3	89	following	follow	VERB
bracis-28353	3	90	conference	conference	NOUN
bracis-28353	3	91	series	series	NOUN
bracis-28353	3	92	:	:	PUNCT
bracis-28353	3	93	brazilian	brazilian	ADJ
bracis-28353	3	94	conference	conference	NOUN
bracis-28353	3	95	on	on	ADP
bracis-28353	3	96	intelligent	intelligent	ADJ
bracis-28353	3	97	systems	system	NOUN
bracis-28353	3	98	521	521	NUM
bracis-28353	3	99	accesses	access	NOUN
bracis-28353	3	100	abstract	abstract	ADJ
bracis-28353	3	101	automated	automate	VERB
bracis-28353	3	102	planning	planning	NOUN
bracis-28353	3	103	is	be	AUX
bracis-28353	3	104	the	the	DET
bracis-28353	3	105	subarea	subarea	NOUN
bracis-28353	3	106	of	of	ADP
bracis-28353	3	107	ai	ai	VERB
bracis-28353	3	108	devoted	devoted	ADJ
bracis-28353	3	109	to	to	ADP
bracis-28353	3	110	developing	develop	VERB
bracis-28353	3	111	algorithms	algorithm	NOUN
bracis-28353	3	112	that	that	PRON
bracis-28353	3	113	can	can	AUX
bracis-28353	3	114	solve	solve	VERB
bracis-28353	3	115	sequential	sequential	ADJ
bracis-28353	3	116	decision	decision	NOUN
bracis-28353	3	117	making	make	VERB
bracis-28353	3	118	problems	problem	NOUN
bracis-28353	3	119	.	.	PUNCT
bracis-28353	4	1	by	by	ADP
bracis-28353	4	2	taking	take	VERB
bracis-28353	4	3	a	a	DET
bracis-28353	4	4	formal	formal	ADJ
bracis-28353	4	5	description	description	NOUN
bracis-28353	4	6	of	of	ADP
bracis-28353	4	7	the	the	DET
bracis-28353	4	8	environment	environment	NOUN
bracis-28353	4	9	,	,	PUNCT
bracis-28353	4	10	a	a	DET
bracis-28353	4	11	planning	planning	NOUN
bracis-28353	4	12	algorithm	algorithm	NOUN
bracis-28353	4	13	generates	generate	VERB
bracis-28353	4	14	a	a	DET
bracis-28353	4	15	plan	plan	NOUN
bracis-28353	4	16	of	of	ADP
bracis-28353	4	17	actions	action	NOUN
bracis-28353	4	18	(	(	PUNCT
bracis-28353	4	19	also	also	ADV
bracis-28353	4	20	called	call	VERB
bracis-28353	4	21	policy	policy	NOUN
bracis-28353	4	22	)	)	PUNCT
bracis-28353	4	23	that	that	PRON
bracis-28353	4	24	can	can	AUX
bracis-28353	4	25	guide	guide	VERB
bracis-28353	4	26	an	an	DET
bracis-28353	4	27	agent	agent	NOUN
bracis-28353	4	28	to	to	PART
bracis-28353	4	29	accomplish	accomplish	VERB
bracis-28353	4	30	a	a	DET
bracis-28353	4	31	certain	certain	ADJ
bracis-28353	4	32	task	task	NOUN
bracis-28353	4	33	.	.	PUNCT
bracis-28353	5	1	classical	classical	ADJ
bracis-28353	5	2	planning	planning	NOUN
bracis-28353	5	3	assumes	assume	VERB
bracis-28353	5	4	the	the	DET
bracis-28353	5	5	environment	environment	NOUN
bracis-28353	5	6	is	be	AUX
bracis-28353	5	7	fully	fully	ADV
bracis-28353	5	8	-	-	PUNCT
bracis-28353	5	9	observed	observe	VERB
bracis-28353	5	10	and	and	CCONJ
bracis-28353	5	11	evolves	evolves	AUX
bracis-28353	5	12	in	in	ADP
bracis-28353	5	13	a	a	DET
bracis-28353	5	14	deterministic	deterministic	ADJ
bracis-28353	5	15	way	way	NOUN
bracis-28353	5	16	considering	consider	VERB
bracis-28353	5	17	only	only	ADJ
bracis-28353	5	18	simple	simple	ADJ
bracis-28353	5	19	reachability	reachability	NOUN
bracis-28353	5	20	goals	goal	NOUN
bracis-28353	5	21	(	(	PUNCT
bracis-28353	5	22	e.g.	e.g.	ADV
bracis-28353	5	23	a	a	DET
bracis-28353	5	24	set	set	NOUN
bracis-28353	5	25	of	of	ADP
bracis-28353	5	26	states	state	NOUN
bracis-28353	5	27	to	to	PART
bracis-28353	5	28	be	be	AUX
bracis-28353	5	29	reached	reach	VERB
bracis-28353	5	30	by	by	ADP
bracis-28353	5	31	a	a	DET
bracis-28353	5	32	plan	plan	NOUN
bracis-28353	5	33	or	or	CCONJ
bracis-28353	5	34	policy	policy	NOUN
bracis-28353	5	35	)	)	PUNCT
bracis-28353	5	36	.	.	PUNCT
bracis-28353	6	1	in	in	ADP
bracis-28353	6	2	this	this	DET
bracis-28353	6	3	work	work	NOUN
bracis-28353	6	4	,	,	PUNCT
bracis-28353	6	5	we	we	PRON
bracis-28353	6	6	approach	approach	VERB
bracis-28353	6	7	fully	fully	ADV
bracis-28353	6	8	-	-	PUNCT
bracis-28353	6	9	observed	observe	VERB
bracis-28353	6	10	non	non	ADJ
bracis-28353	6	11	-	-	ADJ
bracis-28353	6	12	deterministic	deterministic	ADJ
bracis-28353	6	13	planning	planning	NOUN
bracis-28353	6	14	(	(	PUNCT
bracis-28353	6	15	fond	fond	ADJ
bracis-28353	6	16	)	)	PUNCT
bracis-28353	6	17	tasks	task	NOUN
bracis-28353	6	18	which	which	PRON
bracis-28353	6	19	allow	allow	VERB
bracis-28353	6	20	the	the	DET
bracis-28353	6	21	specification	specification	NOUN
bracis-28353	6	22	of	of	ADP
bracis-28353	6	23	complex	complex	ADJ
bracis-28353	6	24	goals	goal	NOUN
bracis-28353	6	25	such	such	ADJ
bracis-28353	6	26	as	as	ADP
bracis-28353	6	27	the	the	DET
bracis-28353	6	28	preference	preference	NOUN
bracis-28353	6	29	over	over	ADP
bracis-28353	6	30	policy	policy	NOUN
bracis-28353	6	31	quality	quality	NOUN
bracis-28353	6	32	(	(	PUNCT
bracis-28353	6	33	weak	weak	ADJ
bracis-28353	6	34	,	,	PUNCT
bracis-28353	6	35	strong	strong	ADJ
bracis-28353	6	36	or	or	CCONJ
bracis-28353	6	37	strong	strong	ADJ
bracis-28353	6	38	-	-	PUNCT
bracis-28353	6	39	cyclic	cyclic	NOUN
bracis-28353	6	40	)	)	PUNCT
bracis-28353	6	41	and	and	CCONJ
bracis-28353	6	42	preferences	preference	NOUN
bracis-28353	6	43	over	over	ADP
bracis-28353	6	44	states	state	NOUN
bracis-28353	6	45	in	in	ADP
bracis-28353	6	46	the	the	DET
bracis-28353	6	47	paths	path	NOUN
bracis-28353	6	48	generated	generate	VERB
bracis-28353	6	49	by	by	ADP
bracis-28353	6	50	a	a	DET
bracis-28353	6	51	policy	policy	NOUN
bracis-28353	6	52	.	.	PUNCT
bracis-28353	7	1	to	to	PART
bracis-28353	7	2	solve	solve	VERB
bracis-28353	7	3	this	this	DET
bracis-28353	7	4	problem	problem	NOUN
bracis-28353	7	5	we	we	PRON
bracis-28353	7	6	propose	propose	VERB
bracis-28353	7	7	formulae	formulae	ADJ
bracis-28353	7	8	in	in	ADP
bracis-28353	7	9	\(\alpha	\(\alpha	X
bracis-28353	7	10	\)-ctl	\)-ctl	NOUN
bracis-28353	7	11	(	(	PUNCT
bracis-28353	7	12	branching	branch	VERB
bracis-28353	7	13	time	time	NOUN
bracis-28353	7	14	)	)	PUNCT
bracis-28353	7	15	temporal	temporal	ADJ
bracis-28353	7	16	logic	logic	NOUN
bracis-28353	7	17	and	and	CCONJ
bracis-28353	7	18	use	use	VERB
bracis-28353	7	19	planning	planning	NOUN
bracis-28353	7	20	as	as	ADP
bracis-28353	7	21	model	model	NOUN
bracis-28353	7	22	checking	check	VERB
bracis-28353	7	23	algorithms	algorithm	NOUN
bracis-28353	7	24	based	base	VERB
bracis-28353	7	25	on	on	ADP
bracis-28353	7	26	\(\alpha	\(\alpha	X
bracis-28353	7	27	\)-ctl	\)-ctl	NOUN
bracis-28353	7	28	to	to	PART
bracis-28353	7	29	generate	generate	VERB
bracis-28353	7	30	a	a	DET
bracis-28353	7	31	solution	solution	NOUN
bracis-28353	7	32	that	that	PRON
bracis-28353	7	33	captures	capture	VERB
bracis-28353	7	34	both	both	PRON
bracis-28353	7	35	,	,	PUNCT
bracis-28353	7	36	agent	agent	NOUN
bracis-28353	7	37	’s	’s	PART
bracis-28353	7	38	preferences	preference	NOUN
bracis-28353	7	39	and	and	CCONJ
bracis-28353	7	40	the	the	DET
bracis-28353	7	41	desired	desire	VERB
bracis-28353	7	42	policy	policy	NOUN
bracis-28353	7	43	quality	quality	NOUN
bracis-28353	7	44	.	.	PUNCT
bracis-28353	8	1	to	to	PART
bracis-28353	8	2	evaluate	evaluate	VERB
bracis-28353	8	3	the	the	DET
bracis-28353	8	4	effectiveness	effectiveness	NOUN
bracis-28353	8	5	of	of	ADP
bracis-28353	8	6	the	the	DET
bracis-28353	8	7	proposed	propose	VERB
bracis-28353	8	8	formulae	formulae	NOUN
bracis-28353	8	9	and	and	CCONJ
bracis-28353	8	10	algorithms	algorithm	NOUN
bracis-28353	8	11	,	,	PUNCT
bracis-28353	8	12	we	we	PRON
bracis-28353	8	13	run	run	VERB
bracis-28353	8	14	experiments	experiment	NOUN
bracis-28353	8	15	in	in	ADP
bracis-28353	8	16	the	the	DET
bracis-28353	8	17	rovers	rover	NOUN
bracis-28353	8	18	benchmark	benchmark	NOUN
bracis-28353	8	19	domain	domain	NOUN
bracis-28353	8	20	.	.	PUNCT
bracis-28353	9	1	up	up	ADP
bracis-28353	9	2	to	to	ADP
bracis-28353	9	3	our	our	PRON
bracis-28353	9	4	knowledge	knowledge	NOUN
bracis-28353	9	5	,	,	PUNCT
bracis-28353	9	6	this	this	PRON
bracis-28353	9	7	is	be	AUX
bracis-28353	9	8	the	the	DET
bracis-28353	9	9	first	first	ADJ
bracis-28353	9	10	work	work	NOUN
bracis-28353	9	11	to	to	PART
bracis-28353	9	12	solve	solve	VERB
bracis-28353	9	13	non	non	ADJ
bracis-28353	9	14	-	-	ADJ
bracis-28353	9	15	deterministic	deterministic	ADJ
bracis-28353	9	16	planning	planning	NOUN
bracis-28353	9	17	problems	problem	NOUN
bracis-28353	9	18	with	with	ADP
bracis-28353	9	19	preferences	preference	NOUN
bracis-28353	9	20	using	use	VERB
bracis-28353	9	21	a	a	DET
bracis-28353	9	22	ctl	ctl	NOUN
bracis-28353	9	23	temporal	temporal	ADJ
bracis-28353	9	24	logic	logic	NOUN
bracis-28353	9	25	.	.	PUNCT
bracis-28353	10	1	access	access	NOUN
bracis-28353	10	2	provided	provide	VERB
bracis-28353	10	3	by	by	ADP
bracis-28353	10	4	university	university	PROPN
bracis-28353	10	5	of	of	ADP
bracis-28353	10	6	notre	notre	PROPN
bracis-28353	10	7	dame	dame	PROPN
bracis-28353	10	8	hesburgh	hesburgh	PROPN
bracis-28353	10	9	library	library	PROPN
bracis-28353	10	10	.	.	PUNCT
bracis-28353	11	1	download	download	PROPN
bracis-28353	11	2	conference	conference	NOUN
bracis-28353	11	3	paper	paper	NOUN
bracis-28353	11	4	pdf	pdf	NOUN
bracis-28353	11	5	similar	similar	ADJ
bracis-28353	11	6	content	content	NOUN
bracis-28353	11	7	being	be	AUX
bracis-28353	11	8	viewed	view	VERB
bracis-28353	11	9	by	by	ADP
bracis-28353	11	10	others	other	NOUN
bracis-28353	11	11	research	research	NOUN
bracis-28353	11	12	and	and	CCONJ
bracis-28353	11	13	development	development	NOUN
bracis-28353	11	14	of	of	ADP
bracis-28353	11	15	a	a	DET
bracis-28353	11	16	temporal	temporal	ADJ
bracis-28353	11	17	model	model	NOUN
bracis-28353	11	18	of	of	ADP
bracis-28353	11	19	branching	branch	VERB
bracis-28353	11	20	time	time	NOUN
bracis-28353	11	21	for	for	ADP
bracis-28353	11	22	the	the	DET
bracis-28353	11	23	intelligent	intelligent	ADJ
bracis-28353	11	24	systems	system	NOUN
bracis-28353	11	25	of	of	ADP
bracis-28353	11	26	real	real	ADJ
bracis-28353	11	27	-	-	PUNCT
bracis-28353	11	28	time	time	NOUN
bracis-28353	11	29	chapter	chapter	NOUN
bracis-28353	11	30	©	©	NOUN
bracis-28353	11	31	2024	2024	NUM
bracis-28353	11	32	branching	branch	VERB
bracis-28353	11	33	time	time	NOUN
bracis-28353	11	34	logics	logic	NOUN
bracis-28353	11	35	with	with	ADP
bracis-28353	11	36	multiagent	multiagent	PROPN
bracis-28353	11	37	temporal	temporal	ADJ
bracis-28353	11	38	accessibility	accessibility	NOUN
bracis-28353	11	39	relations	relation	NOUN
bracis-28353	11	40	article	article	NOUN
bracis-28353	11	41	27	27	NUM
bracis-28353	11	42	may	may	PROPN
bracis-28353	11	43	2021	2021	NUM
bracis-28353	11	44	collaborative	collaborative	ADJ
bracis-28353	11	45	human	human	ADJ
bracis-28353	11	46	-	-	PUNCT
bracis-28353	11	47	agent	agent	NOUN
bracis-28353	11	48	planning	planning	NOUN
bracis-28353	11	49	for	for	ADP
bracis-28353	11	50	 	 	SPACE
bracis-28353	11	51	resilience	resilience	NOUN
bracis-28353	11	52	chapter	chapter	NOUN
bracis-28353	11	53	©	©	PROPN
bracis-28353	11	54	2022	2022	NUM
bracis-28353	11	55	explore	explore	VERB
bracis-28353	11	56	related	relate	VERB
bracis-28353	11	57	subjects	subject	NOUN
bracis-28353	11	58	discover	discover	VERB
bracis-28353	11	59	the	the	DET
bracis-28353	11	60	latest	late	ADJ
bracis-28353	11	61	articles	article	NOUN
bracis-28353	11	62	,	,	PUNCT
bracis-28353	11	63	books	book	NOUN
bracis-28353	11	64	and	and	CCONJ
bracis-28353	11	65	news	news	NOUN
bracis-28353	11	66	in	in	ADP
bracis-28353	11	67	related	related	ADJ
bracis-28353	11	68	subjects	subject	NOUN
bracis-28353	11	69	,	,	PUNCT
bracis-28353	11	70	suggested	suggest	VERB
bracis-28353	11	71	using	use	VERB
bracis-28353	11	72	machine	machine	NOUN
bracis-28353	11	73	learning	learning	NOUN
bracis-28353	11	74	.	.	PUNCT
bracis-28353	12	1	logic	logic	NOUN
bracis-28353	12	2	in	in	ADP
bracis-28353	12	3	ai	ai	PRON
bracis-28353	12	4	formal	formal	ADJ
bracis-28353	12	5	languages	language	NOUN
bracis-28353	12	6	and	and	CCONJ
bracis-28353	12	7	automata	automata	NOUN
bracis-28353	12	8	theory	theory	NOUN
bracis-28353	12	9	formal	formal	ADJ
bracis-28353	12	10	logic	logic	NOUN
bracis-28353	12	11	linear	linear	PROPN
bracis-28353	12	12	logic	logic	NOUN
bracis-28353	12	13	symbolic	symbolic	ADJ
bracis-28353	12	14	ai	ai	VERB
bracis-28353	12	15	policy	policy	NOUN
bracis-28353	12	16	formulation	formulation	NOUN
bracis-28353	12	17	1	1	NUM
bracis-28353	12	18	introduction	introduction	NOUN
bracis-28353	12	19	automated	automate	VERB
bracis-28353	12	20	planning	planning	NOUN
bracis-28353	12	21	[	[	X
bracis-28353	12	22	9	9	NUM
bracis-28353	12	23	]	]	PUNCT
bracis-28353	12	24	is	be	AUX
bracis-28353	12	25	the	the	DET
bracis-28353	12	26	subarea	subarea	NOUN
bracis-28353	12	27	of	of	ADP
bracis-28353	12	28	artificial	artificial	ADJ
bracis-28353	12	29	intelligence	intelligence	NOUN
bracis-28353	12	30	that	that	PRON
bracis-28353	12	31	studies	study	VERB
bracis-28353	12	32	the	the	DET
bracis-28353	12	33	process	process	NOUN
bracis-28353	12	34	of	of	ADP
bracis-28353	12	35	automatically	automatically	ADV
bracis-28353	12	36	generating	generate	VERB
bracis-28353	12	37	a	a	DET
bracis-28353	12	38	plan	plan	NOUN
bracis-28353	12	39	of	of	ADP
bracis-28353	12	40	actions	action	NOUN
bracis-28353	12	41	that	that	PRON
bracis-28353	12	42	,	,	PUNCT
bracis-28353	12	43	when	when	SCONJ
bracis-28353	12	44	executed	execute	VERB
bracis-28353	12	45	,	,	PUNCT
bracis-28353	12	46	enables	enable	VERB
bracis-28353	12	47	an	an	DET
bracis-28353	12	48	agent	agent	NOUN
bracis-28353	12	49	to	to	PART
bracis-28353	12	50	accomplish	accomplish	VERB
bracis-28353	12	51	a	a	DET
bracis-28353	12	52	task	task	NOUN
bracis-28353	12	53	.	.	PUNCT
bracis-28353	13	1	a	a	DET
bracis-28353	13	2	state	state	NOUN
bracis-28353	13	3	refers	refer	VERB
bracis-28353	13	4	to	to	ADP
bracis-28353	13	5	a	a	DET
bracis-28353	13	6	particular	particular	ADJ
bracis-28353	13	7	configuration	configuration	NOUN
bracis-28353	13	8	of	of	ADP
bracis-28353	13	9	the	the	DET
bracis-28353	13	10	agent	agent	NOUN
bracis-28353	13	11	’s	’s	PART
bracis-28353	13	12	environment	environment	NOUN
bracis-28353	13	13	and	and	CCONJ
bracis-28353	13	14	can	can	AUX
bracis-28353	13	15	be	be	AUX
bracis-28353	13	16	described	describe	VERB
bracis-28353	13	17	by	by	ADP
bracis-28353	13	18	a	a	DET
bracis-28353	13	19	set	set	NOUN
bracis-28353	13	20	of	of	ADP
bracis-28353	13	21	properties	property	NOUN
bracis-28353	13	22	.	.	PUNCT
bracis-28353	14	1	the	the	DET
bracis-28353	14	2	initial	initial	ADJ
bracis-28353	14	3	state	state	NOUN
bracis-28353	14	4	is	be	AUX
bracis-28353	14	5	the	the	DET
bracis-28353	14	6	environment	environment	NOUN
bracis-28353	14	7	configuration	configuration	NOUN
bracis-28353	14	8	at	at	ADP
bracis-28353	14	9	the	the	DET
bracis-28353	14	10	beginning	beginning	NOUN
bracis-28353	14	11	of	of	ADP
bracis-28353	14	12	the	the	DET
bracis-28353	14	13	plan	plan	NOUN
bracis-28353	14	14	execution	execution	NOUN
bracis-28353	14	15	.	.	PUNCT
bracis-28353	15	1	a	a	DET
bracis-28353	15	2	planning	planning	NOUN
bracis-28353	15	3	problem	problem	NOUN
bracis-28353	15	4	is	be	AUX
bracis-28353	15	5	defined	define	VERB
bracis-28353	15	6	by	by	ADP
bracis-28353	15	7	means	mean	NOUN
bracis-28353	15	8	of	of	ADP
bracis-28353	15	9	a	a	DET
bracis-28353	15	10	formal	formal	ADJ
bracis-28353	15	11	description	description	NOUN
bracis-28353	15	12	of	of	ADP
bracis-28353	15	13	the	the	DET
bracis-28353	15	14	environment	environment	NOUN
bracis-28353	15	15	(	(	PUNCT
bracis-28353	15	16	called	call	VERB
bracis-28353	15	17	planning	planning	NOUN
bracis-28353	15	18	domain	domain	NOUN
bracis-28353	15	19	)	)	PUNCT
bracis-28353	15	20	plus	plus	CCONJ
bracis-28353	15	21	an	an	DET
bracis-28353	15	22	initial	initial	ADJ
bracis-28353	15	23	state	state	NOUN
bracis-28353	15	24	and	and	CCONJ
bracis-28353	15	25	a	a	DET
bracis-28353	15	26	goal	goal	NOUN
bracis-28353	15	27	description	description	NOUN
bracis-28353	15	28	.	.	PUNCT
bracis-28353	16	1	the	the	DET
bracis-28353	16	2	planning	planning	NOUN
bracis-28353	16	3	domain	domain	NOUN
bracis-28353	16	4	models	model	VERB
bracis-28353	16	5	the	the	DET
bracis-28353	16	6	environment	environment	NOUN
bracis-28353	16	7	based	base	VERB
bracis-28353	16	8	on	on	ADP
bracis-28353	16	9	the	the	DET
bracis-28353	16	10	set	set	NOUN
bracis-28353	16	11	of	of	ADP
bracis-28353	16	12	actions	action	NOUN
bracis-28353	16	13	the	the	DET
bracis-28353	16	14	agent	agent	NOUN
bracis-28353	16	15	can	can	AUX
bracis-28353	16	16	perform	perform	VERB
bracis-28353	16	17	.	.	PUNCT
bracis-28353	17	1	thus	thus	ADV
bracis-28353	17	2	an	an	DET
bracis-28353	17	3	action	action	NOUN
bracis-28353	17	4	can	can	AUX
bracis-28353	17	5	be	be	AUX
bracis-28353	17	6	seen	see	VERB
bracis-28353	17	7	as	as	ADP
bracis-28353	17	8	a	a	DET
bracis-28353	17	9	manifestation	manifestation	NOUN
bracis-28353	17	10	of	of	ADP
bracis-28353	17	11	the	the	DET
bracis-28353	17	12	agent	agent	NOUN
bracis-28353	17	13	’s	’s	PART
bracis-28353	17	14	intent	intent	NOUN
bracis-28353	17	15	to	to	PART
bracis-28353	17	16	make	make	VERB
bracis-28353	17	17	the	the	DET
bracis-28353	17	18	environment	environment	NOUN
bracis-28353	17	19	to	to	PART
bracis-28353	17	20	change	change	VERB
bracis-28353	17	21	from	from	ADP
bracis-28353	17	22	a	a	DET
bracis-28353	17	23	state	state	NOUN
bracis-28353	17	24	to	to	ADP
bracis-28353	17	25	another	another	PRON
bracis-28353	17	26	.	.	PUNCT
bracis-28353	18	1	finally	finally	ADV
bracis-28353	18	2	,	,	PUNCT
bracis-28353	18	3	the	the	DET
bracis-28353	18	4	goal	goal	NOUN
bracis-28353	18	5	description	description	NOUN
bracis-28353	18	6	can	can	AUX
bracis-28353	18	7	vary	vary	VERB
bracis-28353	18	8	from	from	ADP
bracis-28353	18	9	a	a	DET
bracis-28353	18	10	simple	simple	ADJ
bracis-28353	18	11	reachability	reachability	NOUN
bracis-28353	18	12	goal	goal	NOUN
bracis-28353	18	13	formula	formula	NOUN
bracis-28353	18	14	(	(	PUNCT
bracis-28353	18	15	e.g.	e.g.	ADV
bracis-28353	18	16	a	a	DET
bracis-28353	18	17	propositional	propositional	ADJ
bracis-28353	18	18	formula	formula	NOUN
bracis-28353	18	19	that	that	PRON
bracis-28353	18	20	must	must	AUX
bracis-28353	18	21	be	be	AUX
bracis-28353	18	22	satisfied	satisfy	VERB
bracis-28353	18	23	by	by	ADP
bracis-28353	18	24	a	a	DET
bracis-28353	18	25	set	set	NOUN
bracis-28353	18	26	of	of	ADP
bracis-28353	18	27	goal	goal	NOUN
bracis-28353	18	28	states	state	NOUN
bracis-28353	18	29	)	)	PUNCT
bracis-28353	18	30	to	to	ADP
bracis-28353	18	31	complex	complex	ADJ
bracis-28353	18	32	temporal	temporal	ADJ
bracis-28353	18	33	goal	goal	NOUN
bracis-28353	18	34	formulae	formulae	VERB
bracis-28353	18	35	[	[	X
bracis-28353	18	36	22	22	NUM
bracis-28353	18	37	,	,	PUNCT
bracis-28353	18	38	26	26	NUM
bracis-28353	18	39	]	]	PUNCT
bracis-28353	18	40	,	,	PUNCT
bracis-28353	18	41	capable	capable	ADJ
bracis-28353	18	42	to	to	PART
bracis-28353	18	43	represent	represent	VERB
bracis-28353	18	44	the	the	DET
bracis-28353	18	45	agent	agent	NOUN
bracis-28353	18	46	’s	’s	PART
bracis-28353	18	47	preferences	preference	NOUN
bracis-28353	18	48	over	over	ADP
bracis-28353	18	49	the	the	DET
bracis-28353	18	50	plan	plan	NOUN
bracis-28353	18	51	solution	solution	NOUN
bracis-28353	18	52	and	and	CCONJ
bracis-28353	18	53	its	its	PRON
bracis-28353	18	54	quality	quality	NOUN
bracis-28353	18	55	as	as	ADV
bracis-28353	18	56	well	well	ADV
bracis-28353	18	57	.	.	PUNCT
bracis-28353	19	1	fig	fig	NOUN
bracis-28353	19	2	.	.	PUNCT
bracis-28353	20	1	1	1	X
bracis-28353	20	2	.	.	X
bracis-28353	20	3	examples	example	NOUN
bracis-28353	20	4	of	of	ADP
bracis-28353	20	5	state	state	NOUN
bracis-28353	20	6	transition	transition	NOUN
bracis-28353	20	7	systems	system	NOUN
bracis-28353	20	8	representing	represent	VERB
bracis-28353	20	9	planning	planning	NOUN
bracis-28353	20	10	domains	domain	NOUN
bracis-28353	20	11	.	.	PUNCT
bracis-28353	21	1	full	full	ADJ
bracis-28353	21	2	size	size	NOUN
bracis-28353	21	3	image	image	NOUN
bracis-28353	21	4	figure	figure	NOUN
bracis-28353	21	5	 	 	SPACE
bracis-28353	21	6	1a	1a	X
bracis-28353	21	7	shows	show	VERB
bracis-28353	21	8	a	a	DET
bracis-28353	21	9	planning	planning	NOUN
bracis-28353	21	10	domain	domain	NOUN
bracis-28353	21	11	represented	represent	VERB
bracis-28353	21	12	by	by	ADP
bracis-28353	21	13	a	a	DET
bracis-28353	21	14	state	state	NOUN
bracis-28353	21	15	transition	transition	NOUN
bracis-28353	21	16	system	system	NOUN
bracis-28353	21	17	given	give	VERB
bracis-28353	21	18	by	by	ADP
bracis-28353	21	19	a	a	DET
bracis-28353	21	20	graph	graph	NOUN
bracis-28353	21	21	with	with	ADP
bracis-28353	21	22	vertices	vertex	NOUN
bracis-28353	21	23	representing	represent	VERB
bracis-28353	21	24	the	the	DET
bracis-28353	21	25	states	state	NOUN
bracis-28353	21	26	labeled	label	VERB
bracis-28353	21	27	by	by	ADP
bracis-28353	21	28	propositional	propositional	ADJ
bracis-28353	21	29	atoms	atom	NOUN
bracis-28353	21	30	and	and	CCONJ
bracis-28353	21	31	directed	direct	VERB
bracis-28353	21	32	edges	edge	NOUN
bracis-28353	21	33	representing	represent	VERB
bracis-28353	21	34	the	the	DET
bracis-28353	21	35	actions	action	NOUN
bracis-28353	21	36	labeled	label	VERB
bracis-28353	21	37	by	by	ADP
bracis-28353	21	38	action	action	NOUN
bracis-28353	21	39	names	name	NOUN
bracis-28353	21	40	.	.	PUNCT
bracis-28353	22	1	to	to	PART
bracis-28353	22	2	represent	represent	VERB
bracis-28353	22	3	states	state	NOUN
bracis-28353	22	4	we	we	PRON
bracis-28353	22	5	make	make	VERB
bracis-28353	22	6	the	the	DET
bracis-28353	22	7	closed	closed	ADJ
bracis-28353	22	8	world	world	NOUN
bracis-28353	22	9	assumption	assumption	NOUN
bracis-28353	22	10	,	,	PUNCT
bracis-28353	22	11	i.e.	i.e.	X
bracis-28353	22	12	a	a	DET
bracis-28353	22	13	state	state	NOUN
bracis-28353	22	14	is	be	AUX
bracis-28353	22	15	described	describe	VERB
bracis-28353	22	16	only	only	ADV
bracis-28353	22	17	by	by	ADP
bracis-28353	22	18	the	the	DET
bracis-28353	22	19	propositions	proposition	NOUN
bracis-28353	22	20	that	that	PRON
bracis-28353	22	21	are	be	AUX
bracis-28353	22	22	true	true	ADJ
bracis-28353	22	23	and	and	CCONJ
bracis-28353	22	24	any	any	DET
bracis-28353	22	25	proposition	proposition	NOUN
bracis-28353	22	26	that	that	PRON
bracis-28353	22	27	is	be	AUX
bracis-28353	22	28	false	false	ADJ
bracis-28353	22	29	is	be	AUX
bracis-28353	22	30	not	not	PART
bracis-28353	22	31	included	include	VERB
bracis-28353	22	32	in	in	ADP
bracis-28353	22	33	the	the	DET
bracis-28353	22	34	state	state	NOUN
bracis-28353	22	35	label	label	NOUN
bracis-28353	22	36	.	.	PUNCT
bracis-28353	23	1	for	for	ADP
bracis-28353	23	2	example	example	NOUN
bracis-28353	23	3	,	,	PUNCT
bracis-28353	23	4	in	in	ADP
bracis-28353	23	5	the	the	DET
bracis-28353	23	6	state	state	NOUN
bracis-28353	23	7	\(s_0\	\(s_0\	PROPN
bracis-28353	23	8	)	)	PUNCT
bracis-28353	23	9	(	(	PUNCT
bracis-28353	23	10	fig	fig	NOUN
bracis-28353	23	11	.	.	PUNCT
bracis-28353	23	12	 	 	SPACE
bracis-28353	23	13	1a	1a	NOUN
bracis-28353	23	14	)	)	PUNCT
bracis-28353	24	1	p	p	NOUN
bracis-28353	24	2	is	be	AUX
bracis-28353	24	3	true	true	ADJ
bracis-28353	24	4	,	,	PUNCT
bracis-28353	24	5	q	q	PROPN
bracis-28353	24	6	is	be	AUX
bracis-28353	24	7	false	false	ADJ
bracis-28353	24	8	and	and	CCONJ
bracis-28353	24	9	r	r	NOUN
bracis-28353	24	10	is	be	AUX
bracis-28353	24	11	false	false	ADJ
bracis-28353	24	12	.	.	PUNCT
bracis-28353	24	13	finding	find	VERB
bracis-28353	24	14	a	a	DET
bracis-28353	24	15	solution	solution	NOUN
bracis-28353	24	16	to	to	ADP
bracis-28353	24	17	a	a	DET
bracis-28353	24	18	planning	planning	NOUN
bracis-28353	24	19	problem	problem	NOUN
bracis-28353	24	20	corresponds	correspond	VERB
bracis-28353	24	21	to	to	PART
bracis-28353	24	22	select	select	VERB
bracis-28353	24	23	the	the	DET
bracis-28353	24	24	best	good	ADJ
bracis-28353	24	25	action	action	NOUN
bracis-28353	24	26	at	at	ADP
bracis-28353	24	27	each	each	DET
bracis-28353	24	28	state	state	NOUN
bracis-28353	24	29	,	,	PUNCT
bracis-28353	24	30	which	which	PRON
bracis-28353	24	31	is	be	AUX
bracis-28353	24	32	a	a	DET
bracis-28353	24	33	computationally	computationally	ADV
bracis-28353	24	34	hard	hard	ADJ
bracis-28353	24	35	problem	problem	NOUN
bracis-28353	24	36	[	[	X
bracis-28353	24	37	11	11	NUM
bracis-28353	24	38	]	]	PUNCT
bracis-28353	24	39	.	.	PUNCT
bracis-28353	25	1	therefore	therefore	ADV
bracis-28353	25	2	many	many	ADJ
bracis-28353	25	3	research	research	NOUN
bracis-28353	25	4	has	have	AUX
bracis-28353	25	5	been	be	AUX
bracis-28353	25	6	devoted	devote	VERB
bracis-28353	25	7	to	to	PART
bracis-28353	25	8	find	find	VERB
bracis-28353	25	9	efficient	efficient	ADJ
bracis-28353	25	10	solutions	solution	NOUN
bracis-28353	25	11	for	for	ADP
bracis-28353	25	12	planning	planning	NOUN
bracis-28353	25	13	problems	problem	NOUN
bracis-28353	25	14	mainly	mainly	ADV
bracis-28353	25	15	focusing	focus	VERB
bracis-28353	25	16	on	on	ADP
bracis-28353	25	17	making	make	VERB
bracis-28353	25	18	different	different	ADJ
bracis-28353	25	19	assumptions	assumption	NOUN
bracis-28353	25	20	about	about	ADP
bracis-28353	25	21	the	the	DET
bracis-28353	25	22	environment	environment	NOUN
bracis-28353	25	23	and	and	CCONJ
bracis-28353	25	24	the	the	DET
bracis-28353	25	25	capability	capability	NOUN
bracis-28353	25	26	to	to	PART
bracis-28353	25	27	express	express	VERB
bracis-28353	25	28	goal	goal	NOUN
bracis-28353	25	29	formulae	formulae	NOUN
bracis-28353	25	30	.	.	PUNCT
bracis-28353	26	1	deterministic	deterministic	ADJ
bracis-28353	26	2	planning	planning	NOUN
bracis-28353	26	3	.	.	PUNCT
bracis-28353	27	1	research	research	NOUN
bracis-28353	27	2	in	in	ADP
bracis-28353	27	3	this	this	DET
bracis-28353	27	4	area	area	NOUN
bracis-28353	27	5	assumes	assume	VERB
bracis-28353	27	6	the	the	DET
bracis-28353	27	7	world	world	NOUN
bracis-28353	27	8	is	be	AUX
bracis-28353	27	9	fully	fully	ADV
bracis-28353	27	10	-	-	PUNCT
bracis-28353	27	11	observed	observe	VERB
bracis-28353	27	12	and	and	CCONJ
bracis-28353	27	13	there	there	PRON
bracis-28353	27	14	are	be	VERB
bracis-28353	27	15	no	no	DET
bracis-28353	27	16	uncertainties	uncertainty	NOUN
bracis-28353	27	17	about	about	ADP
bracis-28353	27	18	the	the	DET
bracis-28353	27	19	effects	effect	NOUN
bracis-28353	27	20	of	of	ADP
bracis-28353	27	21	the	the	DET
bracis-28353	27	22	actions	action	NOUN
bracis-28353	27	23	[	[	X
bracis-28353	27	24	9	9	NUM
bracis-28353	27	25	]	]	PUNCT
bracis-28353	27	26	.	.	PUNCT
bracis-28353	28	1	thus	thus	ADV
bracis-28353	28	2	,	,	PUNCT
bracis-28353	28	3	when	when	SCONJ
bracis-28353	28	4	an	an	DET
bracis-28353	28	5	action	action	NOUN
bracis-28353	28	6	is	be	AUX
bracis-28353	28	7	executed	execute	VERB
bracis-28353	28	8	in	in	ADP
bracis-28353	28	9	a	a	DET
bracis-28353	28	10	state	state	NOUN
bracis-28353	28	11	,	,	PUNCT
bracis-28353	28	12	there	there	PRON
bracis-28353	28	13	is	be	VERB
bracis-28353	28	14	only	only	ADV
bracis-28353	28	15	one	one	NUM
bracis-28353	28	16	possible	possible	ADJ
bracis-28353	28	17	successor	successor	NOUN
bracis-28353	28	18	state	state	NOUN
bracis-28353	28	19	.	.	PUNCT
bracis-28353	29	1	the	the	DET
bracis-28353	29	2	solution	solution	NOUN
bracis-28353	29	3	of	of	ADP
bracis-28353	29	4	a	a	DET
bracis-28353	29	5	deterministic	deterministic	ADJ
bracis-28353	29	6	planning	planning	NOUN
bracis-28353	29	7	problem	problem	NOUN
bracis-28353	29	8	is	be	AUX
bracis-28353	29	9	a	a	DET
bracis-28353	29	10	sequence	sequence	NOUN
bracis-28353	29	11	of	of	ADP
bracis-28353	29	12	actions	action	NOUN
bracis-28353	29	13	that	that	PRON
bracis-28353	29	14	takes	take	VERB
bracis-28353	29	15	the	the	DET
bracis-28353	29	16	environment	environment	NOUN
bracis-28353	29	17	from	from	ADP
bracis-28353	29	18	the	the	DET
bracis-28353	29	19	initial	initial	ADJ
bracis-28353	29	20	state	state	NOUN
bracis-28353	29	21	to	to	ADP
bracis-28353	29	22	a	a	DET
bracis-28353	29	23	state	state	NOUN
bracis-28353	29	24	that	that	PRON
bracis-28353	29	25	satisfies	satisfy	VERB
bracis-28353	29	26	a	a	DET
bracis-28353	29	27	simple	simple	ADJ
bracis-28353	29	28	reachability	reachability	NOUN
bracis-28353	29	29	goal	goal	NOUN
bracis-28353	29	30	description	description	NOUN
bracis-28353	29	31	.	.	PUNCT
bracis-28353	30	1	examples	example	NOUN
bracis-28353	30	2	of	of	ADP
bracis-28353	30	3	efficient	efficient	ADJ
bracis-28353	30	4	algorithms	algorithm	NOUN
bracis-28353	30	5	for	for	ADP
bracis-28353	30	6	deterministic	deterministic	ADJ
bracis-28353	30	7	planning	planning	NOUN
bracis-28353	30	8	are	be	AUX
bracis-28353	30	9	based	base	VERB
bracis-28353	30	10	on	on	ADP
bracis-28353	30	11	heuristic	heuristic	ADJ
bracis-28353	30	12	search	search	NOUN
bracis-28353	30	13	[	[	X
bracis-28353	30	14	10	10	NUM
bracis-28353	30	15	]	]	PUNCT
bracis-28353	30	16	and	and	CCONJ
bracis-28353	30	17	boolean	boolean	ADJ
bracis-28353	30	18	satisfiability	satisfiability	NOUN
bracis-28353	30	19	[	[	X
bracis-28353	30	20	13	13	NUM
bracis-28353	30	21	]	]	PUNCT
bracis-28353	30	22	.	.	PUNCT
bracis-28353	31	1	example	example	NOUN
bracis-28353	31	2	1	1	NUM
bracis-28353	31	3	(	(	PUNCT
bracis-28353	31	4	deterministic	deterministic	ADJ
bracis-28353	31	5	planning	planning	NOUN
bracis-28353	31	6	)	)	PUNCT
bracis-28353	31	7	.	.	PUNCT
bracis-28353	32	1	suppose	suppose	VERB
bracis-28353	32	2	the	the	DET
bracis-28353	32	3	environment	environment	NOUN
bracis-28353	32	4	(	(	PUNCT
bracis-28353	32	5	system	system	NOUN
bracis-28353	32	6	)	)	PUNCT
bracis-28353	32	7	depicted	depict	VERB
bracis-28353	32	8	in	in	ADP
bracis-28353	32	9	fig	fig	NOUN
bracis-28353	32	10	.	.	PUNCT
bracis-28353	32	11	 	 	SPACE
bracis-28353	33	1	1a	1a	NOUN
bracis-28353	33	2	is	be	AUX
bracis-28353	33	3	currently	currently	ADV
bracis-28353	33	4	in	in	ADP
bracis-28353	33	5	the	the	DET
bracis-28353	33	6	initial	initial	ADJ
bracis-28353	33	7	state	state	NOUN
bracis-28353	33	8	\(s_0\	\(s_0\	PROPN
bracis-28353	33	9	)	)	PUNCT
bracis-28353	33	10	and	and	CCONJ
bracis-28353	33	11	the	the	DET
bracis-28353	33	12	agent	agent	NOUN
bracis-28353	33	13	goal	goal	NOUN
bracis-28353	33	14	is	be	AUX
bracis-28353	33	15	to	to	PART
bracis-28353	33	16	reach	reach	VERB
bracis-28353	33	17	the	the	DET
bracis-28353	33	18	state	state	NOUN
bracis-28353	33	19	where	where	SCONJ
bracis-28353	33	20	property	property	NOUN
bracis-28353	33	21	\(\varphi	\(\varphi	NOUN
bracis-28353	33	22	=	=	SYM
bracis-28353	33	23	\lnot	\lnot	INTJ
bracis-28353	33	24	p	p	PRON
bracis-28353	33	25	\wedge	\wedge	PROPN
bracis-28353	33	26	q	q	PROPN
bracis-28353	33	27	\wedge	\wedge	PROPN
bracis-28353	33	28	r\	r\	PROPN
bracis-28353	33	29	)	)	PUNCT
bracis-28353	33	30	holds	hold	VERB
bracis-28353	33	31	.	.	PUNCT
bracis-28353	34	1	the	the	DET
bracis-28353	34	2	sequence	sequence	NOUN
bracis-28353	34	3	of	of	ADP
bracis-28353	34	4	actions	action	NOUN
bracis-28353	34	5	\(\langle	\(\langle	VERB
bracis-28353	34	6	a_1,a_4\rangle	a_1,a_4\rangle	PROPN
bracis-28353	34	7	\	\	NOUN
bracis-28353	34	8	)	)	PUNCT
bracis-28353	34	9	is	be	AUX
bracis-28353	34	10	a	a	DET
bracis-28353	34	11	plan	plan	NOUN
bracis-28353	34	12	solution	solution	NOUN
bracis-28353	34	13	since	since	SCONJ
bracis-28353	34	14	it	it	PRON
bracis-28353	34	15	deterministically	deterministically	ADV
bracis-28353	34	16	takes	take	VERB
bracis-28353	34	17	the	the	DET
bracis-28353	34	18	agent	agent	NOUN
bracis-28353	34	19	from	from	ADP
bracis-28353	34	20	state	state	PROPN
bracis-28353	34	21	\(s_{0}\	\(s_{0}\	NOUN
bracis-28353	34	22	)	)	PUNCT
bracis-28353	34	23	to	to	ADP
bracis-28353	34	24	state	state	NOUN
bracis-28353	34	25	\(s_{5}\	\(s_{5}\	PROPN
bracis-28353	34	26	)	)	PUNCT
bracis-28353	34	27	,	,	PUNCT
bracis-28353	34	28	where	where	SCONJ
bracis-28353	34	29	\(\varphi	\(\varphi	ADJ
bracis-28353	34	30	\	\	NOUN
bracis-28353	34	31	)	)	PUNCT
bracis-28353	34	32	is	be	AUX
bracis-28353	34	33	satisfied	satisfied	ADJ
bracis-28353	34	34	.	.	PUNCT
bracis-28353	35	1	other	other	ADJ
bracis-28353	35	2	possible	possible	ADJ
bracis-28353	35	3	plans	plan	NOUN
bracis-28353	35	4	are	be	AUX
bracis-28353	35	5	:	:	PUNCT
bracis-28353	35	6	\(\langle	\(\langle	NUM
bracis-28353	35	7	a_2,a_6\rangle	a_2,a_6\rangle	NOUN
bracis-28353	35	8	\	\	NOUN
bracis-28353	35	9	)	)	PUNCT
bracis-28353	35	10	e	e	PROPN
bracis-28353	35	11	\(\langle	\(\langle	NOUN
bracis-28353	35	12	a_3,a_7\rangle	a_3,a_7\rangle	PROPN
bracis-28353	35	13	\	\	NOUN
bracis-28353	35	14	)	)	PUNCT
bracis-28353	35	15	.	.	PUNCT
bracis-28353	36	1	non	non	ADJ
bracis-28353	36	2	-	-	ADJ
bracis-28353	36	3	deterministic	deterministic	ADJ
bracis-28353	36	4	planning	planning	NOUN
bracis-28353	36	5	.	.	PUNCT
bracis-28353	37	1	also	also	ADV
bracis-28353	37	2	called	call	VERB
bracis-28353	37	3	fond	fond	ADJ
bracis-28353	37	4	planning	planning	NOUN
bracis-28353	37	5	fully	fully	ADV
bracis-28353	37	6	observed	observe	VERB
bracis-28353	37	7	non	non	ADJ
bracis-28353	37	8	-	-	ADJ
bracis-28353	37	9	deterministic	deterministic	ADJ
bracis-28353	37	10	planning	planning	NOUN
bracis-28353	37	11	,	,	PUNCT
bracis-28353	37	12	where	where	SCONJ
bracis-28353	37	13	we	we	PRON
bracis-28353	37	14	make	make	VERB
bracis-28353	37	15	the	the	DET
bracis-28353	37	16	assumption	assumption	NOUN
bracis-28353	37	17	the	the	DET
bracis-28353	37	18	environment	environment	NOUN
bracis-28353	37	19	evolves	evolve	VERB
bracis-28353	37	20	in	in	ADP
bracis-28353	37	21	a	a	DET
bracis-28353	37	22	non	non	ADJ
bracis-28353	37	23	-	-	ADJ
bracis-28353	37	24	deterministic	deterministic	ADJ
bracis-28353	37	25	way	way	NOUN
bracis-28353	37	26	,	,	PUNCT
bracis-28353	37	27	due	due	ADP
bracis-28353	37	28	to	to	ADP
bracis-28353	37	29	the	the	DET
bracis-28353	37	30	occurrence	occurrence	NOUN
bracis-28353	37	31	of	of	ADP
bracis-28353	37	32	natural	natural	ADJ
bracis-28353	37	33	events	event	NOUN
bracis-28353	37	34	without	without	ADP
bracis-28353	37	35	the	the	DET
bracis-28353	37	36	agent	agent	NOUN
bracis-28353	37	37	’s	’s	PART
bracis-28353	37	38	control	control	NOUN
bracis-28353	37	39	(	(	PUNCT
bracis-28353	37	40	called	call	VERB
bracis-28353	37	41	exogenous	exogenous	ADJ
bracis-28353	37	42	events	event	NOUN
bracis-28353	37	43	)	)	PUNCT
bracis-28353	37	44	.	.	PUNCT
bracis-28353	38	1	in	in	ADP
bracis-28353	38	2	this	this	DET
bracis-28353	38	3	case	case	NOUN
bracis-28353	38	4	,	,	PUNCT
bracis-28353	38	5	the	the	DET
bracis-28353	38	6	execution	execution	NOUN
bracis-28353	38	7	of	of	ADP
bracis-28353	38	8	an	an	DET
bracis-28353	38	9	action	action	NOUN
bracis-28353	38	10	can	can	AUX
bracis-28353	38	11	lead	lead	VERB
bracis-28353	38	12	to	to	ADP
bracis-28353	38	13	a	a	DET
bracis-28353	38	14	set	set	NOUN
bracis-28353	38	15	of	of	ADP
bracis-28353	38	16	possible	possible	ADJ
bracis-28353	38	17	future	future	ADJ
bracis-28353	38	18	states	state	NOUN
bracis-28353	38	19	[	[	X
bracis-28353	38	20	22	22	NUM
bracis-28353	38	21	]	]	PUNCT
bracis-28353	38	22	.	.	PUNCT
bracis-28353	39	1	a	a	DET
bracis-28353	39	2	solution	solution	NOUN
bracis-28353	39	3	for	for	ADP
bracis-28353	39	4	a	a	DET
bracis-28353	39	5	non	non	ADJ
bracis-28353	39	6	-	-	ADJ
bracis-28353	39	7	deterministic	deterministic	ADJ
bracis-28353	39	8	planning	planning	NOUN
bracis-28353	39	9	problem	problem	NOUN
bracis-28353	39	10	is	be	AUX
bracis-28353	39	11	policy	policy	NOUN
bracis-28353	39	12	:	:	PUNCT
bracis-28353	39	13	a	a	DET
bracis-28353	39	14	mapping	mapping	NOUN
bracis-28353	39	15	from	from	ADP
bracis-28353	39	16	states	state	NOUN
bracis-28353	39	17	to	to	ADP
bracis-28353	39	18	actions	action	NOUN
bracis-28353	39	19	[	[	X
bracis-28353	39	20	9	9	NUM
bracis-28353	39	21	]	]	PUNCT
bracis-28353	39	22	.	.	PUNCT
bracis-28353	40	1	a	a	DET
bracis-28353	40	2	policy	policy	NOUN
bracis-28353	40	3	can	can	AUX
bracis-28353	40	4	be	be	AUX
bracis-28353	40	5	classified	classify	VERB
bracis-28353	40	6	into	into	ADP
bracis-28353	40	7	three	three	NUM
bracis-28353	40	8	quality	quality	NOUN
bracis-28353	40	9	categories	category	NOUN
bracis-28353	40	10	:	:	PUNCT
bracis-28353	40	11	(	(	PUNCT
bracis-28353	40	12	i	i	NOUN
bracis-28353	40	13	)	)	PUNCT
bracis-28353	40	14	a	a	DET
bracis-28353	40	15	weak	weak	ADJ
bracis-28353	40	16	policy	policy	NOUN
bracis-28353	40	17	is	be	AUX
bracis-28353	40	18	a	a	DET
bracis-28353	40	19	solution	solution	NOUN
bracis-28353	40	20	that	that	PRON
bracis-28353	40	21	may	may	AUX
bracis-28353	40	22	achieve	achieve	VERB
bracis-28353	40	23	the	the	DET
bracis-28353	40	24	goal	goal	NOUN
bracis-28353	40	25	but	but	CCONJ
bracis-28353	40	26	offers	offer	VERB
bracis-28353	40	27	no	no	DET
bracis-28353	40	28	guarantee	guarantee	NOUN
bracis-28353	40	29	due	due	ADP
bracis-28353	40	30	to	to	ADP
bracis-28353	40	31	the	the	DET
bracis-28353	40	32	non	non	NOUN
bracis-28353	40	33	-	-	NOUN
bracis-28353	40	34	determinism	determinism	NOUN
bracis-28353	40	35	of	of	ADP
bracis-28353	40	36	the	the	DET
bracis-28353	40	37	actions	action	NOUN
bracis-28353	40	38	;	;	PUNCT
bracis-28353	40	39	(	(	PUNCT
bracis-28353	40	40	ii	ii	NOUN
bracis-28353	40	41	)	)	PUNCT
bracis-28353	40	42	a	a	DET
bracis-28353	40	43	strong	strong	ADJ
bracis-28353	40	44	policy	policy	NOUN
bracis-28353	40	45	is	be	AUX
bracis-28353	40	46	a	a	DET
bracis-28353	40	47	solution	solution	NOUN
bracis-28353	40	48	that	that	PRON
bracis-28353	40	49	guarantees	guarantee	VERB
bracis-28353	40	50	the	the	DET
bracis-28353	40	51	goal	goal	NOUN
bracis-28353	40	52	achievement	achievement	NOUN
bracis-28353	40	53	,	,	PUNCT
bracis-28353	40	54	regardless	regardless	ADV
bracis-28353	40	55	of	of	ADP
bracis-28353	40	56	non	non	ADJ
bracis-28353	40	57	-	-	NOUN
bracis-28353	40	58	determinism	determinism	NOUN
bracis-28353	40	59	of	of	ADP
bracis-28353	40	60	the	the	DET
bracis-28353	40	61	actions	action	NOUN
bracis-28353	40	62	;	;	PUNCT
bracis-28353	40	63	and	and	CCONJ
bracis-28353	40	64	(	(	PUNCT
bracis-28353	40	65	iii	iii	X
bracis-28353	40	66	)	)	PUNCT
bracis-28353	40	67	a	a	DET
bracis-28353	40	68	strong	strong	ADJ
bracis-28353	40	69	-	-	PUNCT
bracis-28353	40	70	cyclic	cyclic	NOUN
bracis-28353	40	71	policy	policy	NOUN
bracis-28353	40	72	is	be	AUX
bracis-28353	40	73	a	a	DET
bracis-28353	40	74	solution	solution	NOUN
bracis-28353	40	75	that	that	PRON
bracis-28353	40	76	ensures	ensure	VERB
bracis-28353	40	77	the	the	DET
bracis-28353	40	78	goal	goal	NOUN
bracis-28353	40	79	achievement	achievement	NOUN
bracis-28353	40	80	,	,	PUNCT
bracis-28353	40	81	but	but	CCONJ
bracis-28353	40	82	its	its	PRON
bracis-28353	40	83	execution	execution	NOUN
bracis-28353	40	84	may	may	AUX
bracis-28353	40	85	involve	involve	VERB
bracis-28353	40	86	infinite	infinite	ADJ
bracis-28353	40	87	cycles	cycle	NOUN
bracis-28353	40	88	(	(	PUNCT
bracis-28353	40	89	assuming	assume	VERB
bracis-28353	40	90	that	that	SCONJ
bracis-28353	40	91	the	the	DET
bracis-28353	40	92	agent	agent	NOUN
bracis-28353	40	93	will	will	AUX
bracis-28353	40	94	eventually	eventually	ADV
bracis-28353	40	95	exit	exit	VERB
bracis-28353	40	96	all	all	DET
bracis-28353	40	97	cycles	cycle	NOUN
bracis-28353	40	98	)	)	PUNCT
bracis-28353	41	1	[	[	X
bracis-28353	41	2	6	6	NUM
bracis-28353	41	3	]	]	PUNCT
bracis-28353	41	4	.	.	PUNCT
bracis-28353	42	1	efficient	efficient	ADJ
bracis-28353	42	2	algorithms	algorithm	NOUN
bracis-28353	42	3	for	for	ADP
bracis-28353	42	4	non	non	ADJ
bracis-28353	42	5	-	-	ADJ
bracis-28353	42	6	deterministic	deterministic	ADJ
bracis-28353	42	7	planning	planning	NOUN
bracis-28353	42	8	are	be	AUX
bracis-28353	42	9	based	base	VERB
bracis-28353	42	10	on	on	ADP
bracis-28353	42	11	model	model	NOUN
bracis-28353	42	12	checking	check	VERB
bracis-28353	42	13	[	[	X
bracis-28353	42	14	6	6	NUM
bracis-28353	42	15	,	,	PUNCT
bracis-28353	42	16	18	18	NUM
bracis-28353	42	17	,	,	PUNCT
bracis-28353	42	18	21	21	NUM
bracis-28353	42	19	,	,	PUNCT
bracis-28353	42	20	28	28	NUM
bracis-28353	42	21	]	]	PUNCT
bracis-28353	42	22	and	and	CCONJ
bracis-28353	42	23	determinization	determinization	NOUN
bracis-28353	42	24	of	of	ADP
bracis-28353	42	25	the	the	DET
bracis-28353	42	26	actions	action	NOUN
bracis-28353	42	27	to	to	PART
bracis-28353	42	28	obtain	obtain	VERB
bracis-28353	42	29	relevant	relevant	ADJ
bracis-28353	42	30	policies	policy	NOUN
bracis-28353	42	31	[	[	X
bracis-28353	42	32	19	19	NUM
bracis-28353	42	33	]	]	PUNCT
bracis-28353	42	34	.	.	PUNCT
bracis-28353	43	1	example	example	NOUN
bracis-28353	43	2	2	2	NUM
bracis-28353	43	3	(	(	PUNCT
bracis-28353	43	4	non	non	ADJ
bracis-28353	43	5	-	-	ADJ
bracis-28353	43	6	deterministic	deterministic	ADJ
bracis-28353	43	7	planning	planning	NOUN
bracis-28353	43	8	)	)	PUNCT
bracis-28353	43	9	.	.	PUNCT
bracis-28353	44	1	consider	consider	VERB
bracis-28353	44	2	the	the	DET
bracis-28353	44	3	non	non	ADJ
bracis-28353	44	4	-	-	ADJ
bracis-28353	44	5	deterministic	deterministic	ADJ
bracis-28353	44	6	planning	planning	NOUN
bracis-28353	44	7	domain	domain	NOUN
bracis-28353	44	8	depicted	depict	VERB
bracis-28353	44	9	in	in	ADP
bracis-28353	44	10	fig	fig	NOUN
bracis-28353	44	11	.	.	PUNCT
bracis-28353	44	12	 	 	SPACE
bracis-28353	45	1	1b	1b	NUM
bracis-28353	45	2	,	,	PUNCT
bracis-28353	45	3	which	which	PRON
bracis-28353	45	4	is	be	AUX
bracis-28353	45	5	similar	similar	ADJ
bracis-28353	45	6	to	to	ADP
bracis-28353	45	7	the	the	DET
bracis-28353	45	8	domain	domain	NOUN
bracis-28353	45	9	shown	show	VERB
bracis-28353	45	10	in	in	ADP
bracis-28353	45	11	fig	fig	NOUN
bracis-28353	45	12	.	.	PUNCT
bracis-28353	45	13	 	 	SPACE
bracis-28353	45	14	1a	1a	NOUN
bracis-28353	45	15	except	except	SCONJ
bracis-28353	45	16	for	for	ADP
bracis-28353	45	17	the	the	DET
bracis-28353	45	18	fact	fact	NOUN
bracis-28353	45	19	that	that	SCONJ
bracis-28353	45	20	the	the	DET
bracis-28353	45	21	actions	action	NOUN
bracis-28353	45	22	\(a_2\	\(a_2\	PROPN
bracis-28353	45	23	)	)	PUNCT
bracis-28353	45	24	and	and	CCONJ
bracis-28353	45	25	\(a_4\	\(a_4\	PROPN
bracis-28353	45	26	)	)	PUNCT
bracis-28353	45	27	are	be	AUX
bracis-28353	45	28	non	non	ADJ
bracis-28353	45	29	-	-	ADJ
bracis-28353	45	30	deterministic	deterministic	ADJ
bracis-28353	45	31	.	.	PUNCT
bracis-28353	46	1	these	these	DET
bracis-28353	46	2	actions	action	NOUN
bracis-28353	46	3	can	can	AUX
bracis-28353	46	4	eventually	eventually	ADV
bracis-28353	46	5	take	take	VERB
bracis-28353	46	6	the	the	DET
bracis-28353	46	7	agent	agent	NOUN
bracis-28353	46	8	,	,	PUNCT
bracis-28353	46	9	respectively	respectively	ADV
bracis-28353	46	10	,	,	PUNCT
bracis-28353	46	11	to	to	ADP
bracis-28353	46	12	the	the	DET
bracis-28353	46	13	states	state	NOUN
bracis-28353	46	14	{	{	PUNCT
bracis-28353	46	15	\(s_2\	\(s_2\	PROPN
bracis-28353	46	16	)	)	PUNCT
bracis-28353	46	17	,	,	PUNCT
bracis-28353	46	18	\(s_3\	\(s_3\	NOUN
bracis-28353	46	19	)	)	PUNCT
bracis-28353	46	20	}	}	PUNCT
bracis-28353	46	21	and	and	CCONJ
bracis-28353	46	22	{	{	PUNCT
bracis-28353	46	23	\(s_4\	\(s_4\	PROPN
bracis-28353	46	24	)	)	PUNCT
bracis-28353	46	25	,	,	PUNCT
bracis-28353	46	26	\(s_5\	\(s_5\	NOUN
bracis-28353	46	27	)	)	PUNCT
bracis-28353	46	28	}	}	PUNCT
bracis-28353	46	29	.	.	PUNCT
bracis-28353	47	1	suppose	suppose	VERB
bracis-28353	47	2	the	the	DET
bracis-28353	47	3	agent	agent	NOUN
bracis-28353	47	4	is	be	AUX
bracis-28353	47	5	in	in	ADP
bracis-28353	47	6	state	state	NOUN
bracis-28353	47	7	\(s_{0}\	\(s_{0}\	NOUN
bracis-28353	47	8	)	)	PUNCT
bracis-28353	47	9	and	and	CCONJ
bracis-28353	47	10	its	its	PRON
bracis-28353	47	11	goal	goal	NOUN
bracis-28353	47	12	is	be	AUX
bracis-28353	47	13	to	to	PART
bracis-28353	47	14	reach	reach	VERB
bracis-28353	47	15	state	state	NOUN
bracis-28353	47	16	where	where	SCONJ
bracis-28353	47	17	the	the	DET
bracis-28353	47	18	goal	goal	NOUN
bracis-28353	47	19	formula	formula	NOUN
bracis-28353	47	20	holds	hold	VERB
bracis-28353	47	21	:	:	PUNCT
bracis-28353	47	22	\(\varphi	\(\varphi	PUNCT
bracis-28353	47	23	=	=	SYM
bracis-28353	47	24	\lnot	\lnot	INTJ
bracis-28353	47	25	p	p	PRON
bracis-28353	47	26	\wedge	\wedge	PROPN
bracis-28353	47	27	q	q	PROPN
bracis-28353	47	28	\wedge	\wedge	PROPN
bracis-28353	47	29	r\	r\	PROPN
bracis-28353	47	30	)	)	PUNCT
bracis-28353	47	31	.	.	PUNCT
bracis-28353	48	1	a	a	DET
bracis-28353	48	2	solution	solution	NOUN
bracis-28353	48	3	is	be	AUX
bracis-28353	48	4	a	a	DET
bracis-28353	48	5	policy	policy	NOUN
bracis-28353	48	6	:	:	PUNCT
bracis-28353	48	7	\(\{(s_{0},a_1	\(\{(s_{0},a_1	NUM
bracis-28353	48	8	)	)	PUNCT
bracis-28353	48	9	,	,	PUNCT
bracis-28353	48	10	(	(	PUNCT
bracis-28353	48	11	s_{1},a_4)\}\	s_{1},a_4)\}\	NOUN
bracis-28353	48	12	)	)	PUNCT
bracis-28353	48	13	.	.	PUNCT
bracis-28353	49	1	this	this	DET
bracis-28353	49	2	policy	policy	NOUN
bracis-28353	49	3	indicates	indicate	VERB
bracis-28353	49	4	that	that	SCONJ
bracis-28353	49	5	if	if	SCONJ
bracis-28353	49	6	the	the	DET
bracis-28353	49	7	agent	agent	NOUN
bracis-28353	49	8	starts	start	VERB
bracis-28353	49	9	at	at	ADP
bracis-28353	49	10	\(s_{0}\	\(s_{0}\	NOUN
bracis-28353	49	11	)	)	PUNCT
bracis-28353	49	12	and	and	CCONJ
bracis-28353	49	13	performs	perform	VERB
bracis-28353	49	14	the	the	DET
bracis-28353	49	15	deterministic	deterministic	ADJ
bracis-28353	49	16	action	action	NOUN
bracis-28353	49	17	\(a_1\	\(a_1\	PROPN
bracis-28353	49	18	)	)	PUNCT
bracis-28353	49	19	,	,	PUNCT
bracis-28353	49	20	it	it	PRON
bracis-28353	49	21	will	will	AUX
bracis-28353	49	22	reach	reach	VERB
bracis-28353	49	23	state	state	NOUN
bracis-28353	49	24	\(s_{1}\	\(s_{1}\	NOUN
bracis-28353	49	25	)	)	PUNCT
bracis-28353	49	26	.	.	PUNCT
bracis-28353	50	1	subsequently	subsequently	ADV
bracis-28353	50	2	,	,	PUNCT
bracis-28353	50	3	if	if	SCONJ
bracis-28353	50	4	it	it	PRON
bracis-28353	50	5	takes	take	VERB
bracis-28353	50	6	the	the	DET
bracis-28353	50	7	non	non	ADJ
bracis-28353	50	8	-	-	ADJ
bracis-28353	50	9	deterministic	deterministic	ADJ
bracis-28353	50	10	action	action	NOUN
bracis-28353	50	11	\(a_4\	\(a_4\	NOUN
bracis-28353	50	12	)	)	PUNCT
bracis-28353	50	13	in	in	ADP
bracis-28353	50	14	\(s_{1}\	\(s_{1}\	NOUN
bracis-28353	50	15	)	)	PUNCT
bracis-28353	50	16	,	,	PUNCT
bracis-28353	50	17	the	the	DET
bracis-28353	50	18	agent	agent	NOUN
bracis-28353	50	19	will	will	AUX
bracis-28353	50	20	end	end	VERB
bracis-28353	50	21	up	up	ADP
bracis-28353	50	22	in	in	ADP
bracis-28353	50	23	either	either	DET
bracis-28353	50	24	\(s_{4}\	\(s_{4}\	NOUN
bracis-28353	50	25	)	)	PUNCT
bracis-28353	50	26	or	or	CCONJ
bracis-28353	50	27	\(s_{5}\	\(s_{5}\	NOUN
bracis-28353	50	28	)	)	PUNCT
bracis-28353	50	29	(	(	PUNCT
bracis-28353	50	30	weak	weak	ADJ
bracis-28353	50	31	policy	policy	NOUN
bracis-28353	50	32	)	)	PUNCT
bracis-28353	50	33	.	.	PUNCT
bracis-28353	51	1	other	other	ADJ
bracis-28353	51	2	solutions	solution	NOUN
bracis-28353	51	3	are	be	AUX
bracis-28353	51	4	strong	strong	ADJ
bracis-28353	51	5	policies	policy	NOUN
bracis-28353	51	6	\(\{(s_0,a_2),(s_2,a_6),(s_3,a_7)\}\	\(\{(s_0,a_2),(s_2,a_6),(s_3,a_7)\}\	PROPN
bracis-28353	51	7	)	)	PUNCT
bracis-28353	51	8	and	and	CCONJ
bracis-28353	51	9	\(\{(s_0,a_3),(s_3,a_7)\}\	\(\{(s_0,a_3),(s_3,a_7)\}\	NUM
bracis-28353	51	10	)	)	PUNCT
bracis-28353	51	11	.	.	PUNCT
bracis-28353	52	1	planning	plan	VERB
bracis-28353	52	2	with	with	ADP
bracis-28353	52	3	preferences	preference	NOUN
bracis-28353	52	4	.	.	PUNCT
bracis-28353	53	1	this	this	DET
bracis-28353	53	2	form	form	NOUN
bracis-28353	53	3	of	of	ADP
bracis-28353	53	4	planning	planning	NOUN
bracis-28353	53	5	allows	allow	VERB
bracis-28353	53	6	the	the	DET
bracis-28353	53	7	specification	specification	NOUN
bracis-28353	53	8	of	of	ADP
bracis-28353	53	9	complex	complex	ADJ
bracis-28353	53	10	goal	goal	NOUN
bracis-28353	53	11	formulae	formulae	VERB
bracis-28353	53	12	to	to	PART
bracis-28353	53	13	represent	represent	VERB
bracis-28353	53	14	properties	property	NOUN
bracis-28353	53	15	that	that	PRON
bracis-28353	53	16	should	should	AUX
bracis-28353	53	17	be	be	AUX
bracis-28353	53	18	preserved	preserve	VERB
bracis-28353	53	19	or	or	CCONJ
bracis-28353	53	20	avoided	avoid	VERB
bracis-28353	53	21	along	along	ADP
bracis-28353	53	22	the	the	DET
bracis-28353	53	23	path	path	NOUN
bracis-28353	53	24	to	to	PART
bracis-28353	53	25	finally	finally	ADV
bracis-28353	53	26	reach	reach	VERB
bracis-28353	53	27	a	a	DET
bracis-28353	53	28	goal	goal	NOUN
bracis-28353	53	29	state	state	NOUN
bracis-28353	53	30	(	(	PUNCT
bracis-28353	53	31	also	also	ADV
bracis-28353	53	32	called	call	VERB
bracis-28353	53	33	extended	extended	ADJ
bracis-28353	53	34	reachability	reachability	NOUN
bracis-28353	53	35	goal	goal	NOUN
bracis-28353	53	36	)	)	PUNCT
bracis-28353	53	37	.	.	PUNCT
bracis-28353	54	1	there	there	PRON
bracis-28353	54	2	are	be	VERB
bracis-28353	54	3	two	two	NUM
bracis-28353	54	4	types	type	NOUN
bracis-28353	54	5	of	of	ADP
bracis-28353	54	6	preferences	preference	NOUN
bracis-28353	54	7	:	:	PUNCT
bracis-28353	54	8	quantitative	quantitative	ADJ
bracis-28353	54	9	preferences	preference	NOUN
bracis-28353	54	10	and	and	CCONJ
bracis-28353	54	11	qualitative	qualitative	ADJ
bracis-28353	54	12	preferences	preference	NOUN
bracis-28353	54	13	.	.	PUNCT
bracis-28353	55	1	in	in	ADP
bracis-28353	55	2	the	the	DET
bracis-28353	55	3	first	first	ADJ
bracis-28353	55	4	type	type	NOUN
bracis-28353	55	5	,	,	PUNCT
bracis-28353	55	6	preferences	preference	NOUN
bracis-28353	55	7	represent	represent	VERB
bracis-28353	55	8	a	a	DET
bracis-28353	55	9	subset	subset	NOUN
bracis-28353	55	10	of	of	ADP
bracis-28353	55	11	desirable	desirable	ADJ
bracis-28353	55	12	goals	goal	NOUN
bracis-28353	55	13	when	when	SCONJ
bracis-28353	55	14	it	it	PRON
bracis-28353	55	15	is	be	AUX
bracis-28353	55	16	not	not	PART
bracis-28353	55	17	possible	possible	ADJ
bracis-28353	55	18	to	to	PART
bracis-28353	55	19	achieve	achieve	VERB
bracis-28353	55	20	all	all	DET
bracis-28353	55	21	goals	goal	NOUN
bracis-28353	55	22	[	[	X
bracis-28353	55	23	25	25	NUM
bracis-28353	55	24	]	]	PUNCT
bracis-28353	55	25	.	.	PUNCT
bracis-28353	56	1	in	in	ADP
bracis-28353	56	2	the	the	DET
bracis-28353	56	3	second	second	ADJ
bracis-28353	56	4	type	type	NOUN
bracis-28353	56	5	,	,	PUNCT
bracis-28353	56	6	preferences	preference	NOUN
bracis-28353	56	7	deal	deal	VERB
bracis-28353	56	8	with	with	ADP
bracis-28353	56	9	additional	additional	ADJ
bracis-28353	56	10	properties	property	NOUN
bracis-28353	56	11	that	that	PRON
bracis-28353	56	12	must	must	AUX
bracis-28353	56	13	hold	hold	VERB
bracis-28353	56	14	along	along	ADP
bracis-28353	56	15	the	the	DET
bracis-28353	56	16	path	path	NOUN
bracis-28353	56	17	to	to	PART
bracis-28353	56	18	achieve	achieve	VERB
bracis-28353	56	19	a	a	DET
bracis-28353	56	20	goal	goal	NOUN
bracis-28353	56	21	state	state	NOUN
bracis-28353	56	22	.	.	PUNCT
bracis-28353	57	1	qualitative	qualitative	ADJ
bracis-28353	57	2	preferences	preference	NOUN
bracis-28353	57	3	can	can	AUX
bracis-28353	57	4	be	be	AUX
bracis-28353	57	5	used	use	VERB
bracis-28353	57	6	to	to	PART
bracis-28353	57	7	express	express	VERB
bracis-28353	57	8	safety	safety	NOUN
bracis-28353	57	9	and	and	CCONJ
bracis-28353	57	10	liveness	liveness	NOUN
bracis-28353	57	11	properties	property	NOUN
bracis-28353	57	12	[	[	X
bracis-28353	57	13	16	16	NUM
bracis-28353	57	14	]	]	PUNCT
bracis-28353	57	15	.	.	PUNCT
bracis-28353	58	1	informally	informally	ADV
bracis-28353	58	2	,	,	PUNCT
bracis-28353	58	3	a	a	DET
bracis-28353	58	4	safety	safety	NOUN
bracis-28353	58	5	property	property	NOUN
bracis-28353	58	6	indicates	indicate	VERB
bracis-28353	58	7	that	that	SCONJ
bracis-28353	58	8	“	"	PUNCT
bracis-28353	58	9	something	something	PRON
bracis-28353	58	10	(	(	PUNCT
bracis-28353	58	11	bad	bad	ADJ
bracis-28353	58	12	)	)	PUNCT
bracis-28353	58	13	should	should	AUX
bracis-28353	58	14	not	not	PART
bracis-28353	58	15	happen	happen	VERB
bracis-28353	58	16	”	"	PUNCT
bracis-28353	58	17	during	during	ADP
bracis-28353	58	18	the	the	DET
bracis-28353	58	19	execution	execution	NOUN
bracis-28353	58	20	of	of	ADP
bracis-28353	58	21	a	a	DET
bracis-28353	58	22	plan	plan	NOUN
bracis-28353	58	23	,	,	PUNCT
bracis-28353	58	24	while	while	SCONJ
bracis-28353	58	25	a	a	DET
bracis-28353	58	26	liveness	liveness	NOUN
bracis-28353	58	27	property	property	NOUN
bracis-28353	58	28	expresses	express	VERB
bracis-28353	58	29	that	that	SCONJ
bracis-28353	58	30	eventually	eventually	ADV
bracis-28353	58	31	“	"	PUNCT
bracis-28353	58	32	something	something	PRON
bracis-28353	58	33	(	(	PUNCT
bracis-28353	58	34	good	good	ADJ
bracis-28353	58	35	)	)	PUNCT
bracis-28353	58	36	should	should	AUX
bracis-28353	58	37	happen	happen	VERB
bracis-28353	58	38	”	"	PUNCT
bracis-28353	58	39	during	during	ADP
bracis-28353	58	40	the	the	DET
bracis-28353	58	41	plan	plan	NOUN
bracis-28353	58	42	execution	execution	NOUN
bracis-28353	58	43	[	[	X
bracis-28353	58	44	15	15	NUM
bracis-28353	58	45	]	]	PUNCT
bracis-28353	58	46	.	.	PUNCT
bracis-28353	59	1	qualitative	qualitative	ADJ
bracis-28353	59	2	preferences	preference	NOUN
bracis-28353	59	3	can	can	AUX
bracis-28353	59	4	be	be	AUX
bracis-28353	59	5	expressed	express	VERB
bracis-28353	59	6	by	by	ADP
bracis-28353	59	7	operators	operator	NOUN
bracis-28353	59	8	in	in	ADP
bracis-28353	59	9	pddl	pddl	NOUN
bracis-28353	59	10	such	such	ADJ
bracis-28353	59	11	as	as	ADP
bracis-28353	59	12	:	:	PUNCT
bracis-28353	59	13	always	always	ADV
bracis-28353	59	14	,	,	PUNCT
bracis-28353	59	15	sometime	sometime	ADV
bracis-28353	59	16	,	,	PUNCT
bracis-28353	59	17	sometime	sometime	ADV
bracis-28353	59	18	-	-	PUNCT
bracis-28353	59	19	before	before	ADV
bracis-28353	59	20	and	and	CCONJ
bracis-28353	59	21	at	at	ADP
bracis-28353	59	22	-	-	PUNCT
bracis-28353	59	23	most	most	ADV
bracis-28353	59	24	-	-	PUNCT
bracis-28353	59	25	once	once	ADV
bracis-28353	59	26	[	[	X
bracis-28353	59	27	3	3	NUM
bracis-28353	59	28	,	,	PUNCT
bracis-28353	59	29	8	8	NUM
bracis-28353	59	30	]	]	PUNCT
bracis-28353	59	31	.	.	PUNCT
bracis-28353	60	1	example	example	NOUN
bracis-28353	60	2	3	3	NUM
bracis-28353	60	3	(	(	PUNCT
bracis-28353	60	4	planning	plan	VERB
bracis-28353	60	5	with	with	ADP
bracis-28353	60	6	qualitative	qualitative	ADJ
bracis-28353	60	7	preferences	preference	NOUN
bracis-28353	60	8	in	in	ADP
bracis-28353	60	9	deterministic	deterministic	ADJ
bracis-28353	60	10	environments	environment	NOUN
bracis-28353	60	11	)	)	PUNCT
bracis-28353	60	12	.	.	PUNCT
bracis-28353	61	1	consider	consider	VERB
bracis-28353	61	2	the	the	DET
bracis-28353	61	3	planning	planning	NOUN
bracis-28353	61	4	domain	domain	NOUN
bracis-28353	61	5	depicted	depict	VERB
bracis-28353	61	6	in	in	ADP
bracis-28353	61	7	fig	fig	NOUN
bracis-28353	61	8	.	.	PUNCT
bracis-28353	61	9	 	 	SPACE
bracis-28353	62	1	1a	1a	NOUN
bracis-28353	62	2	and	and	CCONJ
bracis-28353	62	3	a	a	DET
bracis-28353	62	4	problem	problem	NOUN
bracis-28353	62	5	where	where	SCONJ
bracis-28353	62	6	the	the	DET
bracis-28353	62	7	initial	initial	ADJ
bracis-28353	62	8	state	state	NOUN
bracis-28353	62	9	is	be	AUX
bracis-28353	62	10	\(s_{0}\	\(s_{0}\	NOUN
bracis-28353	62	11	)	)	PUNCT
bracis-28353	62	12	and	and	CCONJ
bracis-28353	62	13	the	the	DET
bracis-28353	62	14	goal	goal	NOUN
bracis-28353	62	15	is	be	AUX
bracis-28353	62	16	to	to	PART
bracis-28353	62	17	reach	reach	VERB
bracis-28353	62	18	a	a	DET
bracis-28353	62	19	state	state	NOUN
bracis-28353	62	20	where	where	SCONJ
bracis-28353	62	21	the	the	DET
bracis-28353	62	22	propositional	propositional	ADJ
bracis-28353	62	23	formula	formula	NOUN
bracis-28353	62	24	\(\varphi	\(\varphi	PROPN
bracis-28353	62	25	=	=	SYM
bracis-28353	62	26	\lnot	\lnot	INTJ
bracis-28353	62	27	p	p	PRON
bracis-28353	62	28	\wedge	\wedge	PROPN
bracis-28353	62	29	q	q	PROPN
bracis-28353	62	30	\wedge	\wedge	PROPN
bracis-28353	62	31	r\	r\	PROPN
bracis-28353	62	32	)	)	PUNCT
bracis-28353	62	33	holds	hold	VERB
bracis-28353	62	34	.	.	PUNCT
bracis-28353	63	1	suppose	suppose	VERB
bracis-28353	63	2	that	that	SCONJ
bracis-28353	63	3	the	the	DET
bracis-28353	63	4	agent	agent	NOUN
bracis-28353	63	5	may	may	AUX
bracis-28353	63	6	prefer	prefer	VERB
bracis-28353	63	7	to	to	PART
bracis-28353	63	8	visit	visit	VERB
bracis-28353	63	9	,	,	PUNCT
bracis-28353	63	10	on	on	ADP
bracis-28353	63	11	the	the	DET
bracis-28353	63	12	path	path	NOUN
bracis-28353	63	13	to	to	PART
bracis-28353	63	14	reach	reach	VERB
bracis-28353	63	15	the	the	DET
bracis-28353	63	16	goal	goal	NOUN
bracis-28353	63	17	,	,	PUNCT
bracis-28353	63	18	only	only	ADV
bracis-28353	63	19	states	state	NOUN
bracis-28353	63	20	where	where	SCONJ
bracis-28353	63	21	p	p	NOUN
bracis-28353	63	22	is	be	AUX
bracis-28353	63	23	true	true	ADJ
bracis-28353	63	24	(	(	PUNCT
bracis-28353	63	25	liveness	liveness	NOUN
bracis-28353	63	26	property	property	NOUN
bracis-28353	63	27	)	)	PUNCT
bracis-28353	63	28	.	.	PUNCT
bracis-28353	64	1	in	in	ADP
bracis-28353	64	2	this	this	DET
bracis-28353	64	3	case	case	NOUN
bracis-28353	64	4	,	,	PUNCT
bracis-28353	64	5	possible	possible	ADJ
bracis-28353	64	6	solutions	solution	NOUN
bracis-28353	64	7	are	be	AUX
bracis-28353	64	8	\(\langle	\(\langle	ADJ
bracis-28353	64	9	a_{1	a_{1	PROPN
bracis-28353	64	10	}	}	PUNCT
bracis-28353	64	11	,	,	PUNCT
bracis-28353	64	12	a_{4	a_{4	PROPN
bracis-28353	64	13	}	}	PUNCT
bracis-28353	64	14	\rangle	\rangle	PROPN
bracis-28353	64	15	\	\	NOUN
bracis-28353	64	16	)	)	PUNCT
bracis-28353	64	17	,	,	PUNCT
bracis-28353	64	18	\(\langle	\(\langle	PROPN
bracis-28353	64	19	a_{2	a_{2	ADV
bracis-28353	64	20	}	}	PUNCT
bracis-28353	64	21	,	,	PUNCT
bracis-28353	64	22	a_{6	a_{6	NOUN
bracis-28353	64	23	}	}	PUNCT
bracis-28353	64	24	\rangle	\rangle	PROPN
bracis-28353	64	25	\	\	NOUN
bracis-28353	64	26	)	)	PUNCT
bracis-28353	64	27	and	and	CCONJ
bracis-28353	64	28	\(\langle	\(\langle	NUM
bracis-28353	64	29	a_{3	a_{3	PROPN
bracis-28353	64	30	}	}	PUNCT
bracis-28353	64	31	,	,	PUNCT
bracis-28353	64	32	a_{7	a_{7	PROPN
bracis-28353	64	33	}	}	PUNCT
bracis-28353	64	34	\rangle	\rangle	PROPN
bracis-28353	64	35	\	\	NOUN
bracis-28353	64	36	)	)	PUNCT
bracis-28353	64	37	.	.	PUNCT
bracis-28353	65	1	this	this	DET
bracis-28353	65	2	work	work	NOUN
bracis-28353	65	3	focuses	focus	VERB
bracis-28353	65	4	on	on	ADP
bracis-28353	65	5	the	the	DET
bracis-28353	65	6	qualitative	qualitative	ADJ
bracis-28353	65	7	preference	preference	NOUN
bracis-28353	65	8	“	"	PUNCT
bracis-28353	65	9	always	always	ADV
bracis-28353	65	10	(	(	PUNCT
bracis-28353	65	11	p	p	NOUN
bracis-28353	65	12	)	)	PUNCT
bracis-28353	65	13	”	"	PUNCT
bracis-28353	65	14	,	,	PUNCT
bracis-28353	65	15	which	which	PRON
bracis-28353	65	16	aims	aim	VERB
bracis-28353	65	17	to	to	PART
bracis-28353	65	18	find	find	VERB
bracis-28353	65	19	a	a	DET
bracis-28353	65	20	plan	plan	NOUN
bracis-28353	65	21	where	where	SCONJ
bracis-28353	65	22	the	the	DET
bracis-28353	65	23	property	property	NOUN
bracis-28353	65	24	p	p	NOUN
bracis-28353	65	25	is	be	AUX
bracis-28353	65	26	true	true	ADJ
bracis-28353	65	27	in	in	ADP
bracis-28353	65	28	all	all	DET
bracis-28353	65	29	states	state	NOUN
bracis-28353	65	30	along	along	ADP
bracis-28353	65	31	the	the	DET
bracis-28353	65	32	path	path	NOUN
bracis-28353	65	33	to	to	PART
bracis-28353	65	34	reach	reach	VERB
bracis-28353	65	35	the	the	DET
bracis-28353	65	36	goal	goal	NOUN
bracis-28353	65	37	.	.	PUNCT
bracis-28353	66	1	example	example	NOUN
bracis-28353	66	2	4	4	NUM
bracis-28353	66	3	(	(	PUNCT
bracis-28353	66	4	planning	plan	VERB
bracis-28353	66	5	with	with	ADP
bracis-28353	66	6	qualitative	qualitative	ADJ
bracis-28353	66	7	preferences	preference	NOUN
bracis-28353	66	8	in	in	ADP
bracis-28353	66	9	non	non	ADJ
bracis-28353	66	10	-	-	ADJ
bracis-28353	66	11	deterministic	deterministic	ADJ
bracis-28353	66	12	environments	environment	NOUN
bracis-28353	66	13	)	)	PUNCT
bracis-28353	66	14	.	.	PUNCT
bracis-28353	67	1	consider	consider	VERB
bracis-28353	67	2	the	the	DET
bracis-28353	67	3	planning	planning	NOUN
bracis-28353	67	4	domain	domain	NOUN
bracis-28353	67	5	depicted	depict	VERB
bracis-28353	67	6	in	in	ADP
bracis-28353	67	7	fig	fig	NOUN
bracis-28353	67	8	.	.	PUNCT
bracis-28353	67	9	 	 	SPACE
bracis-28353	68	1	1b	1b	PROPN
bracis-28353	68	2	and	and	CCONJ
bracis-28353	68	3	the	the	DET
bracis-28353	68	4	agent	agent	NOUN
bracis-28353	68	5	is	be	AUX
bracis-28353	68	6	at	at	ADP
bracis-28353	68	7	state	state	NOUN
bracis-28353	68	8	\(s_{0}\	\(s_{0}\	NOUN
bracis-28353	68	9	)	)	PUNCT
bracis-28353	68	10	and	and	CCONJ
bracis-28353	68	11	its	its	PRON
bracis-28353	68	12	goal	goal	NOUN
bracis-28353	68	13	is	be	AUX
bracis-28353	68	14	to	to	PART
bracis-28353	68	15	reach	reach	VERB
bracis-28353	68	16	a	a	DET
bracis-28353	68	17	state	state	NOUN
bracis-28353	68	18	where	where	SCONJ
bracis-28353	68	19	the	the	DET
bracis-28353	68	20	property	property	NOUN
bracis-28353	68	21	\(\varphi	\(\varphi	PROPN
bracis-28353	68	22	=	=	SYM
bracis-28353	68	23	\lnot	\lnot	INTJ
bracis-28353	68	24	p	p	PRON
bracis-28353	68	25	\wedge	\wedge	PROPN
bracis-28353	68	26	q	q	PROPN
bracis-28353	68	27	\wedge	\wedge	PROPN
bracis-28353	68	28	r\	r\	PROPN
bracis-28353	68	29	)	)	PUNCT
bracis-28353	68	30	is	be	AUX
bracis-28353	68	31	satisfied	satisfied	ADJ
bracis-28353	68	32	,	,	PUNCT
bracis-28353	68	33	but	but	CCONJ
bracis-28353	68	34	with	with	ADP
bracis-28353	68	35	the	the	DET
bracis-28353	68	36	additional	additional	ADJ
bracis-28353	68	37	requirement	requirement	NOUN
bracis-28353	68	38	that	that	SCONJ
bracis-28353	68	39	the	the	DET
bracis-28353	68	40	agent	agent	NOUN
bracis-28353	68	41	must	must	AUX
bracis-28353	68	42	pass	pass	VERB
bracis-28353	68	43	only	only	ADV
bracis-28353	68	44	through	through	ADP
bracis-28353	68	45	states	state	NOUN
bracis-28353	68	46	where	where	SCONJ
bracis-28353	68	47	property	property	NOUN
bracis-28353	68	48	p	p	NOUN
bracis-28353	68	49	is	be	AUX
bracis-28353	68	50	true	true	ADJ
bracis-28353	68	51	before	before	ADP
bracis-28353	68	52	reaching	reach	VERB
bracis-28353	68	53	the	the	DET
bracis-28353	68	54	goal	goal	NOUN
bracis-28353	68	55	.	.	PUNCT
bracis-28353	69	1	the	the	DET
bracis-28353	69	2	solution	solution	NOUN
bracis-28353	69	3	\(\pi	\(\pi	ADP
bracis-28353	69	4	\	\	NOUN
bracis-28353	69	5	)	)	PUNCT
bracis-28353	69	6	=	=	SYM
bracis-28353	69	7	\(\{(s_{0},a_1	\(\{(s_{0},a_1	NUM
bracis-28353	69	8	)	)	PUNCT
bracis-28353	69	9	,	,	PUNCT
bracis-28353	69	10	(	(	PUNCT
bracis-28353	69	11	s_{1},a_4)\}\	s_{1},a_4)\}\	X
bracis-28353	69	12	)	)	PUNCT
bracis-28353	69	13	is	be	AUX
bracis-28353	69	14	a	a	DET
bracis-28353	69	15	weak	weak	ADJ
bracis-28353	69	16	police	police	NOUN
bracis-28353	69	17	that	that	PRON
bracis-28353	69	18	satisfies	satisfy	VERB
bracis-28353	69	19	also	also	ADV
bracis-28353	69	20	the	the	DET
bracis-28353	69	21	user	user	NOUN
bracis-28353	69	22	preference	preference	NOUN
bracis-28353	69	23	,	,	PUNCT
bracis-28353	69	24	once	once	SCONJ
bracis-28353	69	25	it	it	PRON
bracis-28353	69	26	corresponds	correspond	VERB
bracis-28353	69	27	to	to	ADP
bracis-28353	69	28	a	a	DET
bracis-28353	69	29	path	path	NOUN
bracis-28353	69	30	that	that	PRON
bracis-28353	69	31	possibly	possibly	ADV
bracis-28353	69	32	reaches	reach	VERB
bracis-28353	69	33	the	the	DET
bracis-28353	69	34	goal	goal	NOUN
bracis-28353	69	35	\(\varphi	\(\varphi	PUNCT
bracis-28353	69	36	\	\	NOUN
bracis-28353	69	37	)	)	PUNCT
bracis-28353	69	38	and	and	CCONJ
bracis-28353	69	39	passes	pass	VERB
bracis-28353	69	40	only	only	ADV
bracis-28353	69	41	through	through	ADP
bracis-28353	69	42	states	state	NOUN
bracis-28353	69	43	where	where	SCONJ
bracis-28353	69	44	p	p	NOUN
bracis-28353	69	45	is	be	AUX
bracis-28353	69	46	satisfied	satisfied	ADJ
bracis-28353	69	47	.	.	PUNCT
bracis-28353	70	1	the	the	DET
bracis-28353	70	2	solutions	solution	NOUN
bracis-28353	70	3	\(\pi	\(\pi	ADP
bracis-28353	70	4	\	\	NOUN
bracis-28353	70	5	)	)	PUNCT
bracis-28353	70	6	=	=	SYM
bracis-28353	70	7	\(\{(s_{0},a_2	\(\{(s_{0},a_2	NOUN
bracis-28353	70	8	)	)	PUNCT
bracis-28353	70	9	,	,	PUNCT
bracis-28353	70	10	(	(	PUNCT
bracis-28353	70	11	s_{2},a_6	s_{2},a_6	PROPN
bracis-28353	70	12	)	)	PUNCT
bracis-28353	70	13	,	,	PUNCT
bracis-28353	70	14	(	(	PUNCT
bracis-28353	70	15	s_3	s_3	PROPN
bracis-28353	70	16	,	,	PUNCT
bracis-28353	70	17	a_7	a_7	NOUN
bracis-28353	70	18	)	)	PUNCT
bracis-28353	70	19	\}\	\}\	NOUN
bracis-28353	70	20	)	)	PUNCT
bracis-28353	70	21	and	and	CCONJ
bracis-28353	70	22	\(\pi	\(\pi	ADP
bracis-28353	70	23	\	\	NOUN
bracis-28353	70	24	)	)	PUNCT
bracis-28353	70	25	=	=	SYM
bracis-28353	70	26	\(\{(s_{0},a_3	\(\{(s_{0},a_3	X
bracis-28353	70	27	)	)	PUNCT
bracis-28353	70	28	,	,	PUNCT
bracis-28353	70	29	(	(	PUNCT
bracis-28353	70	30	s_3	s_3	PROPN
bracis-28353	70	31	,	,	PUNCT
bracis-28353	70	32	a_7	a_7	NOUN
bracis-28353	70	33	)	)	PUNCT
bracis-28353	70	34	\}\	\}\	NOUN
bracis-28353	70	35	)	)	PUNCT
bracis-28353	70	36	are	be	AUX
bracis-28353	70	37	strong	strong	ADJ
bracis-28353	70	38	polices	police	NOUN
bracis-28353	70	39	that	that	PRON
bracis-28353	70	40	satisfies	satisfy	VERB
bracis-28353	70	41	the	the	DET
bracis-28353	70	42	user	user	NOUN
bracis-28353	70	43	preference	preference	NOUN
bracis-28353	70	44	,	,	PUNCT
bracis-28353	70	45	once	once	SCONJ
bracis-28353	70	46	it	it	PRON
bracis-28353	70	47	reaches	reach	VERB
bracis-28353	70	48	the	the	DET
bracis-28353	70	49	goal	goal	NOUN
bracis-28353	70	50	\(\varphi	\(\varphi	PUNCT
bracis-28353	70	51	\	\	NOUN
bracis-28353	70	52	)	)	PUNCT
bracis-28353	70	53	for	for	ADP
bracis-28353	70	54	sure	sure	ADJ
bracis-28353	70	55	and	and	CCONJ
bracis-28353	70	56	passes	pass	VERB
bracis-28353	70	57	only	only	ADV
bracis-28353	70	58	through	through	ADP
bracis-28353	70	59	states	state	NOUN
bracis-28353	70	60	where	where	SCONJ
bracis-28353	70	61	p	p	NOUN
bracis-28353	70	62	is	be	AUX
bracis-28353	70	63	satisfied	satisfied	ADJ
bracis-28353	70	64	.	.	PUNCT
bracis-28353	71	1	most	most	ADJ
bracis-28353	71	2	algorithms	algorithm	NOUN
bracis-28353	71	3	for	for	ADP
bracis-28353	71	4	planning	plan	VERB
bracis-28353	71	5	with	with	ADP
bracis-28353	71	6	qualitative	qualitative	ADJ
bracis-28353	71	7	preferences	preference	NOUN
bracis-28353	71	8	work	work	VERB
bracis-28353	71	9	on	on	ADP
bracis-28353	71	10	deterministic	deterministic	ADJ
bracis-28353	71	11	domains	domain	NOUN
bracis-28353	71	12	[	[	X
bracis-28353	71	13	2	2	NUM
bracis-28353	71	14	,	,	PUNCT
bracis-28353	71	15	12	12	NUM
bracis-28353	71	16	,	,	PUNCT
bracis-28353	71	17	14	14	NUM
bracis-28353	71	18	,	,	PUNCT
bracis-28353	71	19	20	20	NUM
bracis-28353	71	20	]	]	PUNCT
bracis-28353	71	21	;	;	PUNCT
bracis-28353	71	22	and	and	CCONJ
bracis-28353	71	23	the	the	DET
bracis-28353	71	24	few	few	ADJ
bracis-28353	71	25	works	work	NOUN
bracis-28353	71	26	on	on	ADP
bracis-28353	71	27	fond	fond	ADJ
bracis-28353	71	28	planning	planning	NOUN
bracis-28353	71	29	do	do	AUX
bracis-28353	71	30	not	not	PART
bracis-28353	71	31	include	include	VERB
bracis-28353	71	32	preferences	preference	NOUN
bracis-28353	71	33	over	over	ADP
bracis-28353	71	34	the	the	DET
bracis-28353	71	35	policy	policy	NOUN
bracis-28353	71	36	quality	quality	NOUN
bracis-28353	71	37	.	.	PUNCT
bracis-28353	72	1	this	this	PRON
bracis-28353	72	2	is	be	AUX
bracis-28353	72	3	because	because	SCONJ
bracis-28353	72	4	they	they	PRON
bracis-28353	72	5	are	be	AUX
bracis-28353	72	6	based	base	VERB
bracis-28353	72	7	on	on	ADP
bracis-28353	72	8	ltl	ltl	PROPN
bracis-28353	72	9	linear	linear	PROPN
bracis-28353	72	10	time	time	NOUN
bracis-28353	72	11	logic	logic	NOUN
bracis-28353	72	12	[	[	X
bracis-28353	72	13	23	23	NUM
bracis-28353	72	14	]	]	PUNCT
bracis-28353	72	15	which	which	PRON
bracis-28353	72	16	can	can	AUX
bracis-28353	72	17	not	not	PART
bracis-28353	72	18	have	have	VERB
bracis-28353	72	19	path	path	NOUN
bracis-28353	72	20	quantifiers	quantifier	NOUN
bracis-28353	72	21	.	.	PUNCT
bracis-28353	73	1	to	to	ADP
bracis-28353	73	2	the	the	DET
bracis-28353	73	3	best	good	ADJ
bracis-28353	73	4	of	of	ADP
bracis-28353	73	5	our	our	PRON
bracis-28353	73	6	knowledge	knowledge	NOUN
bracis-28353	73	7	,	,	PUNCT
bracis-28353	73	8	this	this	PRON
bracis-28353	73	9	is	be	AUX
bracis-28353	73	10	the	the	DET
bracis-28353	73	11	first	first	ADJ
bracis-28353	73	12	step	step	NOUN
bracis-28353	73	13	toward	toward	ADP
bracis-28353	73	14	extending	extend	VERB
bracis-28353	73	15	the	the	DET
bracis-28353	73	16	notion	notion	NOUN
bracis-28353	73	17	of	of	ADP
bracis-28353	73	18	qualitative	qualitative	ADJ
bracis-28353	73	19	preferences	preference	NOUN
bracis-28353	73	20	in	in	ADP
bracis-28353	73	21	non	non	ADJ
bracis-28353	73	22	-	-	ADJ
bracis-28353	73	23	deterministic	deterministic	ADJ
bracis-28353	73	24	environments	environment	NOUN
bracis-28353	73	25	to	to	PART
bracis-28353	73	26	also	also	ADV
bracis-28353	73	27	include	include	VERB
bracis-28353	73	28	preferences	preference	NOUN
bracis-28353	73	29	over	over	ADP
bracis-28353	73	30	policy	policy	NOUN
bracis-28353	73	31	quality	quality	NOUN
bracis-28353	73	32	.	.	PUNCT
bracis-28353	74	1	in	in	ADP
bracis-28353	74	2	order	order	NOUN
bracis-28353	74	3	to	to	PART
bracis-28353	74	4	do	do	AUX
bracis-28353	74	5	so	so	ADV
bracis-28353	74	6	,	,	PUNCT
bracis-28353	74	7	we	we	PRON
bracis-28353	74	8	apply	apply	VERB
bracis-28353	74	9	the	the	DET
bracis-28353	74	10	notion	notion	NOUN
bracis-28353	74	11	of	of	ADP
bracis-28353	74	12	extended	extended	ADJ
bracis-28353	74	13	reachability	reachability	NOUN
bracis-28353	74	14	goals	goal	NOUN
bracis-28353	74	15	in	in	ADP
bracis-28353	74	16	model	model	NOUN
bracis-28353	74	17	checking	checking	NOUN
bracis-28353	74	18	based	base	VERB
bracis-28353	74	19	on	on	ADP
bracis-28353	74	20	the	the	DET
bracis-28353	74	21	branching	branch	VERB
bracis-28353	74	22	time	time	NOUN
bracis-28353	74	23	temporal	temporal	ADJ
bracis-28353	74	24	logica	logica	PROPN
bracis-28353	74	25	called	call	VERB
bracis-28353	74	26	\(\alpha	\(\alpha	X
bracis-28353	74	27	\)-ctl	\)-ctl	NOUN
bracis-28353	75	1	[	[	X
bracis-28353	75	2	27	27	NUM
bracis-28353	75	3	]	]	PUNCT
bracis-28353	75	4	to	to	PART
bracis-28353	75	5	express	express	VERB
bracis-28353	75	6	qualitative	qualitative	ADJ
bracis-28353	75	7	preferences	preference	NOUN
bracis-28353	75	8	as	as	ADP
bracis-28353	75	9	extended	extend	VERB
bracis-28353	75	10	reachability	reachability	NOUN
bracis-28353	75	11	goals	goal	NOUN
bracis-28353	75	12	and	and	CCONJ
bracis-28353	75	13	solve	solve	VERB
bracis-28353	75	14	existing	exist	VERB
bracis-28353	75	15	algorithms	algorithm	NOUN
bracis-28353	75	16	for	for	ADP
bracis-28353	75	17	\(\alpha	\(\alpha	X
bracis-28353	75	18	\)-ctl	\)-ctl	NOUN
bracis-28353	75	19	model	model	NOUN
bracis-28353	75	20	checking	checking	NOUN
bracis-28353	75	21	.	.	PUNCT
bracis-28353	76	1	in	in	ADP
bracis-28353	76	2	this	this	DET
bracis-28353	76	3	paper	paper	NOUN
bracis-28353	76	4	,	,	PUNCT
bracis-28353	76	5	we	we	PRON
bracis-28353	76	6	propose	propose	VERB
bracis-28353	76	7	solutions	solution	NOUN
bracis-28353	76	8	for	for	ADP
bracis-28353	76	9	planning	planning	NOUN
bracis-28353	76	10	problems	problem	NOUN
bracis-28353	76	11	that	that	PRON
bracis-28353	76	12	address	address	VERB
bracis-28353	76	13	two	two	NUM
bracis-28353	76	14	aspects	aspect	NOUN
bracis-28353	76	15	present	present	ADJ
bracis-28353	76	16	in	in	ADP
bracis-28353	76	17	real	real	ADJ
bracis-28353	76	18	-	-	PUNCT
bracis-28353	76	19	world	world	NOUN
bracis-28353	76	20	environments	environment	NOUN
bracis-28353	76	21	:	:	PUNCT
bracis-28353	76	22	(	(	PUNCT
bracis-28353	76	23	i	i	NOUN
bracis-28353	76	24	)	)	PUNCT
bracis-28353	76	25	we	we	PRON
bracis-28353	76	26	consider	consider	VERB
bracis-28353	76	27	that	that	SCONJ
bracis-28353	76	28	the	the	DET
bracis-28353	76	29	actions	action	NOUN
bracis-28353	76	30	can	can	AUX
bracis-28353	76	31	have	have	VERB
bracis-28353	76	32	non	non	ADJ
bracis-28353	76	33	-	-	ADJ
bracis-28353	76	34	deterministic	deterministic	ADJ
bracis-28353	76	35	effects	effect	NOUN
bracis-28353	76	36	and	and	CCONJ
bracis-28353	76	37	;	;	PUNCT
bracis-28353	76	38	(	(	PUNCT
bracis-28353	76	39	ii	ii	NOUN
bracis-28353	76	40	)	)	PUNCT
bracis-28353	76	41	we	we	PRON
bracis-28353	76	42	consider	consider	VERB
bracis-28353	76	43	that	that	SCONJ
bracis-28353	76	44	the	the	DET
bracis-28353	76	45	user	user	NOUN
bracis-28353	76	46	wants	want	VERB
bracis-28353	76	47	to	to	PART
bracis-28353	76	48	express	express	VERB
bracis-28353	76	49	its	its	PRON
bracis-28353	76	50	preferences	preference	NOUN
bracis-28353	76	51	over	over	ADP
bracis-28353	76	52	the	the	DET
bracis-28353	76	53	policy	policy	NOUN
bracis-28353	76	54	paths	path	NOUN
bracis-28353	76	55	,	,	PUNCT
bracis-28353	76	56	and	and	CCONJ
bracis-28353	76	57	over	over	ADP
bracis-28353	76	58	the	the	DET
bracis-28353	76	59	policy	policy	NOUN
bracis-28353	76	60	quality	quality	NOUN
bracis-28353	76	61	as	as	ADV
bracis-28353	76	62	well	well	ADV
bracis-28353	76	63	.	.	PUNCT
bracis-28353	77	1	this	this	DET
bracis-28353	77	2	paper	paper	NOUN
bracis-28353	77	3	is	be	AUX
bracis-28353	77	4	organized	organize	VERB
bracis-28353	77	5	as	as	SCONJ
bracis-28353	77	6	follows	follow	VERB
bracis-28353	77	7	:	:	PUNCT
bracis-28353	77	8	sect	sect	NOUN
bracis-28353	77	9	.	.	PUNCT
bracis-28353	77	10	 	 	SPACE
bracis-28353	78	1	2	2	NUM
bracis-28353	78	2	presents	present	VERB
bracis-28353	78	3	the	the	DET
bracis-28353	78	4	related	relate	VERB
bracis-28353	78	5	works	work	NOUN
bracis-28353	78	6	;	;	PUNCT
bracis-28353	78	7	sect	sect	NOUN
bracis-28353	78	8	.	.	PUNCT
bracis-28353	78	9	 	 	SPACE
bracis-28353	79	1	3	3	NUM
bracis-28353	79	2	describes	describe	VERB
bracis-28353	79	3	the	the	DET
bracis-28353	79	4	foundations	foundation	NOUN
bracis-28353	79	5	;	;	PUNCT
bracis-28353	79	6	sect	sect	NOUN
bracis-28353	79	7	.	.	PUNCT
bracis-28353	79	8	 	 	SPACE
bracis-28353	80	1	4	4	NUM
bracis-28353	80	2	details	detail	NOUN
bracis-28353	80	3	how	how	SCONJ
bracis-28353	80	4	policy	policy	NOUN
bracis-28353	80	5	preferences	preference	NOUN
bracis-28353	80	6	can	can	AUX
bracis-28353	80	7	be	be	AUX
bracis-28353	80	8	expressed	express	VERB
bracis-28353	80	9	using	use	VERB
bracis-28353	80	10	the	the	DET
bracis-28353	80	11	\(\alpha	\(\alpha	ADJ
bracis-28353	80	12	\)-ctl	\)-ctl	ADJ
bracis-28353	80	13	temporal	temporal	ADJ
bracis-28353	80	14	logic	logic	NOUN
bracis-28353	80	15	[	[	X
bracis-28353	80	16	22	22	NUM
bracis-28353	80	17	]	]	PUNCT
bracis-28353	80	18	;	;	PUNCT
bracis-28353	80	19	sect	sect	NOUN
bracis-28353	80	20	.	.	PUNCT
bracis-28353	80	21	 	 	SPACE
bracis-28353	80	22	5	5	NUM
bracis-28353	80	23	presents	present	VERB
bracis-28353	80	24	our	our	PRON
bracis-28353	80	25	experimental	experimental	ADJ
bracis-28353	80	26	analysis	analysis	NOUN
bracis-28353	80	27	and	and	CCONJ
bracis-28353	80	28	,	,	PUNCT
bracis-28353	80	29	sect	sect	NOUN
bracis-28353	80	30	.	.	PUNCT
bracis-28353	80	31	 	 	SPACE
bracis-28353	81	1	6	6	NUM
bracis-28353	81	2	presents	present	VERB
bracis-28353	81	3	the	the	DET
bracis-28353	81	4	conclusions	conclusion	NOUN
bracis-28353	81	5	and	and	CCONJ
bracis-28353	81	6	future	future	ADJ
bracis-28353	81	7	work	work	NOUN
bracis-28353	81	8	.	.	PUNCT
bracis-28353	82	1	2	2	NUM
bracis-28353	82	2	related	related	ADJ
bracis-28353	82	3	work	work	NOUN
bracis-28353	82	4	the	the	DET
bracis-28353	82	5	work	work	NOUN
bracis-28353	82	6	in	in	ADP
bracis-28353	82	7	[	[	X
bracis-28353	82	8	5	5	NUM
bracis-28353	82	9	]	]	PUNCT
bracis-28353	82	10	presents	present	VERB
bracis-28353	82	11	an	an	DET
bracis-28353	82	12	approach	approach	NOUN
bracis-28353	82	13	to	to	ADP
bracis-28353	82	14	non	non	ADJ
bracis-28353	82	15	-	-	ADJ
bracis-28353	82	16	deterministic	deterministic	ADJ
bracis-28353	82	17	planning	planning	NOUN
bracis-28353	82	18	in	in	ADP
bracis-28353	82	19	which	which	PRON
bracis-28353	82	20	the	the	DET
bracis-28353	82	21	qualitative	qualitative	ADJ
bracis-28353	82	22	preferences	preference	NOUN
bracis-28353	82	23	are	be	AUX
bracis-28353	82	24	expressed	express	VERB
bracis-28353	82	25	as	as	ADP
bracis-28353	82	26	extended	extend	VERB
bracis-28353	82	27	(	(	PUNCT
bracis-28353	82	28	reachability	reachability	NOUN
bracis-28353	82	29	)	)	PUNCT
bracis-28353	82	30	goals	goal	NOUN
bracis-28353	82	31	in	in	ADP
bracis-28353	82	32	linear	linear	ADJ
bracis-28353	82	33	time	time	NOUN
bracis-28353	82	34	logic	logic	NOUN
bracis-28353	82	35	(	(	PUNCT
bracis-28353	82	36	ltl	ltl	PROPN
bracis-28353	82	37	)	)	PUNCT
bracis-28353	83	1	[	[	X
bracis-28353	83	2	23	23	NUM
bracis-28353	83	3	]	]	PUNCT
bracis-28353	83	4	.	.	PUNCT
bracis-28353	84	1	let	let	VERB
bracis-28353	84	2	’s	’s	PRON
bracis-28353	84	3	call	call	VERB
bracis-28353	84	4	this	this	PRON
bracis-28353	84	5	a	a	DET
bracis-28353	84	6	problem	problem	NOUN
bracis-28353	84	7	p	p	NOUN
bracis-28353	84	8	and	and	CCONJ
bracis-28353	84	9	to	to	PART
bracis-28353	84	10	solve	solve	VERB
bracis-28353	84	11	it	it	PRON
bracis-28353	84	12	,	,	PUNCT
bracis-28353	84	13	the	the	DET
bracis-28353	84	14	authors	author	NOUN
bracis-28353	84	15	proposed	propose	VERB
bracis-28353	84	16	the	the	DET
bracis-28353	84	17	following	follow	VERB
bracis-28353	84	18	extra	extra	ADJ
bracis-28353	84	19	-	-	ADJ
bracis-28353	84	20	logical	logical	ADJ
bracis-28353	84	21	approach	approach	NOUN
bracis-28353	84	22	:	:	PUNCT
bracis-28353	84	23	(	(	PUNCT
bracis-28353	84	24	i	i	NOUN
bracis-28353	84	25	)	)	PUNCT
bracis-28353	84	26	build	build	VERB
bracis-28353	84	27	a	a	DET
bracis-28353	84	28	buchi	buchi	PROPN
bracis-28353	84	29	automaton	automaton	NOUN
bracis-28353	84	30	for	for	ADP
bracis-28353	84	31	the	the	DET
bracis-28353	84	32	extended	extended	ADJ
bracis-28353	84	33	goal	goal	NOUN
bracis-28353	84	34	expressed	express	VERB
bracis-28353	84	35	as	as	ADP
bracis-28353	84	36	an	an	DET
bracis-28353	84	37	ltl	ltl	PROPN
bracis-28353	84	38	formula	formula	NOUN
bracis-28353	84	39	;	;	PUNCT
bracis-28353	84	40	(	(	PUNCT
bracis-28353	84	41	ii	ii	NOUN
bracis-28353	84	42	)	)	PUNCT
bracis-28353	84	43	perform	perform	VERB
bracis-28353	84	44	the	the	DET
bracis-28353	84	45	determinization	determinization	NOUN
bracis-28353	84	46	of	of	ADP
bracis-28353	84	47	non	non	ADJ
bracis-28353	84	48	-	-	ADJ
bracis-28353	84	49	deterministic	deterministic	ADJ
bracis-28353	84	50	actions	action	NOUN
bracis-28353	84	51	(	(	PUNCT
bracis-28353	84	52	iii	iii	X
bracis-28353	84	53	)	)	PUNCT
bracis-28353	84	54	build	build	VERB
bracis-28353	84	55	a	a	DET
bracis-28353	84	56	new	new	ADJ
bracis-28353	84	57	problem	problem	NOUN
bracis-28353	84	58	\(p'\	\(p'\	ADJ
bracis-28353	84	59	)	)	PUNCT
bracis-28353	84	60	without	without	ADP
bracis-28353	84	61	extended	extended	ADJ
bracis-28353	84	62	goals	goal	NOUN
bracis-28353	84	63	;	;	PUNCT
bracis-28353	84	64	(	(	PUNCT
bracis-28353	84	65	iv	iv	X
bracis-28353	84	66	)	)	PUNCT
bracis-28353	84	67	use	use	VERB
bracis-28353	84	68	a	a	DET
bracis-28353	84	69	non	non	ADJ
bracis-28353	84	70	-	-	ADJ
bracis-28353	84	71	deterministic	deterministic	ADJ
bracis-28353	84	72	planner	planner	NOUN
bracis-28353	84	73	to	to	PART
bracis-28353	84	74	produce	produce	VERB
bracis-28353	84	75	a	a	DET
bracis-28353	84	76	policy	policy	NOUN
bracis-28353	84	77	for	for	ADP
bracis-28353	84	78	\(p'\	\(p'\	ADJ
bracis-28353	84	79	)	)	PUNCT
bracis-28353	84	80	and	and	CCONJ
bracis-28353	84	81	;	;	PUNCT
bracis-28353	84	82	(	(	PUNCT
bracis-28353	84	83	v	v	NOUN
bracis-28353	84	84	)	)	PUNCT
bracis-28353	84	85	convert	convert	VERB
bracis-28353	84	86	the	the	DET
bracis-28353	84	87	resulting	result	VERB
bracis-28353	84	88	policy	policy	NOUN
bracis-28353	84	89	into	into	ADP
bracis-28353	84	90	a	a	DET
bracis-28353	84	91	solution	solution	NOUN
bracis-28353	84	92	for	for	ADP
bracis-28353	84	93	p.	p.	NOUN
bracis-28353	84	94	in	in	ADP
bracis-28353	84	95	our	our	PRON
bracis-28353	84	96	work	work	NOUN
bracis-28353	84	97	,	,	PUNCT
bracis-28353	84	98	we	we	PRON
bracis-28353	84	99	rely	rely	VERB
bracis-28353	84	100	on	on	ADP
bracis-28353	84	101	a	a	DET
bracis-28353	84	102	solution	solution	NOUN
bracis-28353	84	103	based	base	VERB
bracis-28353	84	104	on	on	ADP
bracis-28353	84	105	ctl	ctl	PROPN
bracis-28353	84	106	(	(	PUNCT
bracis-28353	84	107	a	a	DET
bracis-28353	84	108	branching	branching	ADJ
bracis-28353	84	109	time	time	NOUN
bracis-28353	84	110	propositional	propositional	ADJ
bracis-28353	84	111	logic	logic	NOUN
bracis-28353	84	112	)	)	PUNCT
bracis-28353	84	113	able	able	ADJ
bracis-28353	84	114	to	to	PART
bracis-28353	84	115	solve	solve	VERB
bracis-28353	84	116	non	non	ADJ
bracis-28353	84	117	-	-	ADJ
bracis-28353	84	118	deterministic	deterministic	ADJ
bracis-28353	84	119	planning	planning	NOUN
bracis-28353	84	120	without	without	ADP
bracis-28353	84	121	the	the	DET
bracis-28353	84	122	need	need	NOUN
bracis-28353	84	123	to	to	PART
bracis-28353	84	124	perform	perform	VERB
bracis-28353	84	125	determinizations	determinization	NOUN
bracis-28353	84	126	.	.	PUNCT
bracis-28353	85	1	the	the	DET
bracis-28353	85	2	solution	solution	NOUN
bracis-28353	85	3	for	for	ADP
bracis-28353	85	4	planning	plan	VERB
bracis-28353	85	5	with	with	ADP
bracis-28353	85	6	qualitative	qualitative	ADJ
bracis-28353	85	7	preferences	preference	NOUN
bracis-28353	85	8	in	in	ADP
bracis-28353	85	9	deterministic	deterministic	ADJ
bracis-28353	85	10	domains	domain	NOUN
bracis-28353	85	11	,	,	PUNCT
bracis-28353	85	12	presented	present	VERB
bracis-28353	85	13	in	in	ADP
bracis-28353	85	14	[	[	X
bracis-28353	85	15	20	20	NUM
bracis-28353	85	16	]	]	PUNCT
bracis-28353	85	17	,	,	PUNCT
bracis-28353	85	18	involves	involve	VERB
bracis-28353	85	19	transforming	transform	VERB
bracis-28353	85	20	a	a	DET
bracis-28353	85	21	problem	problem	NOUN
bracis-28353	85	22	with	with	ADP
bracis-28353	85	23	preferences	preference	NOUN
bracis-28353	85	24	p	p	NOUN
bracis-28353	85	25	into	into	ADP
bracis-28353	85	26	a	a	DET
bracis-28353	85	27	problem	problem	NOUN
bracis-28353	85	28	without	without	ADP
bracis-28353	85	29	preferences	preference	NOUN
bracis-28353	85	30	\(p'\	\(p'\	ADJ
bracis-28353	85	31	)	)	PUNCT
bracis-28353	85	32	.	.	PUNCT
bracis-28353	86	1	for	for	ADP
bracis-28353	86	2	each	each	DET
bracis-28353	86	3	preference	preference	NOUN
bracis-28353	86	4	in	in	ADP
bracis-28353	86	5	p	p	X
bracis-28353	86	6	,	,	PUNCT
bracis-28353	86	7	a	a	DET
bracis-28353	86	8	new	new	ADJ
bracis-28353	86	9	goal	goal	NOUN
bracis-28353	86	10	,	,	PUNCT
bracis-28353	86	11	which	which	PRON
bracis-28353	86	12	is	be	AUX
bracis-28353	86	13	false	false	ADJ
bracis-28353	86	14	in	in	ADP
bracis-28353	86	15	the	the	DET
bracis-28353	86	16	initial	initial	ADJ
bracis-28353	86	17	state	state	NOUN
bracis-28353	86	18	,	,	PUNCT
bracis-28353	86	19	is	be	AUX
bracis-28353	86	20	added	add	VERB
bracis-28353	86	21	in	in	ADP
bracis-28353	86	22	\(p'\	\(p'\	ADJ
bracis-28353	86	23	)	)	PUNCT
bracis-28353	86	24	.	.	PUNCT
bracis-28353	87	1	the	the	DET
bracis-28353	87	2	new	new	ADJ
bracis-28353	87	3	goal	goal	NOUN
bracis-28353	87	4	can	can	AUX
bracis-28353	87	5	be	be	AUX
bracis-28353	87	6	achieved	achieve	VERB
bracis-28353	87	7	by	by	ADP
bracis-28353	87	8	an	an	DET
bracis-28353	87	9	action	action	NOUN
bracis-28353	87	10	with	with	ADP
bracis-28353	87	11	zero	zero	NUM
bracis-28353	87	12	cost	cost	NOUN
bracis-28353	87	13	,	,	PUNCT
bracis-28353	87	14	but	but	CCONJ
bracis-28353	87	15	requires	require	VERB
bracis-28353	87	16	the	the	DET
bracis-28353	87	17	preference	preference	NOUN
bracis-28353	87	18	to	to	PART
bracis-28353	87	19	be	be	AUX
bracis-28353	87	20	satisfied	satisfied	ADJ
bracis-28353	87	21	,	,	PUNCT
bracis-28353	87	22	or	or	CCONJ
bracis-28353	87	23	an	an	DET
bracis-28353	87	24	action	action	NOUN
bracis-28353	87	25	with	with	ADP
bracis-28353	87	26	a	a	DET
bracis-28353	87	27	cost	cost	NOUN
bracis-28353	87	28	equal	equal	ADJ
bracis-28353	87	29	to	to	ADP
bracis-28353	87	30	the	the	DET
bracis-28353	87	31	utility	utility	NOUN
bracis-28353	87	32	of	of	ADP
bracis-28353	87	33	the	the	DET
bracis-28353	87	34	preference	preference	NOUN
bracis-28353	87	35	that	that	PRON
bracis-28353	87	36	can	can	AUX
bracis-28353	87	37	only	only	ADV
bracis-28353	87	38	be	be	AUX
bracis-28353	87	39	performed	perform	VERB
bracis-28353	87	40	if	if	SCONJ
bracis-28353	87	41	the	the	DET
bracis-28353	87	42	preference	preference	NOUN
bracis-28353	87	43	is	be	AUX
bracis-28353	87	44	false	false	ADJ
bracis-28353	87	45	.	.	PUNCT
bracis-28353	88	1	due	due	ADP
bracis-28353	88	2	to	to	ADP
bracis-28353	88	3	this	this	DET
bracis-28353	88	4	transformation	transformation	NOUN
bracis-28353	88	5	method	method	NOUN
bracis-28353	88	6	,	,	PUNCT
bracis-28353	88	7	any	any	DET
bracis-28353	88	8	classical	classical	ADJ
bracis-28353	88	9	planner	planner	NOUN
bracis-28353	88	10	can	can	AUX
bracis-28353	88	11	be	be	AUX
bracis-28353	88	12	used	use	VERB
bracis-28353	88	13	to	to	PART
bracis-28353	88	14	solve	solve	VERB
bracis-28353	88	15	problems	problem	NOUN
bracis-28353	88	16	with	with	ADP
bracis-28353	88	17	preferences	preference	NOUN
bracis-28353	88	18	.	.	PUNCT
bracis-28353	89	1	the	the	DET
bracis-28353	89	2	work	work	NOUN
bracis-28353	89	3	in	in	ADP
bracis-28353	89	4	[	[	X
bracis-28353	89	5	4	4	NUM
bracis-28353	89	6	]	]	PUNCT
bracis-28353	89	7	introduces	introduce	VERB
bracis-28353	89	8	a	a	DET
bracis-28353	89	9	method	method	NOUN
bracis-28353	89	10	for	for	ADP
bracis-28353	89	11	solving	solve	VERB
bracis-28353	89	12	generalized	generalized	ADJ
bracis-28353	89	13	planning	planning	NOUN
bracis-28353	89	14	problems	problem	NOUN
bracis-28353	89	15	,	,	PUNCT
bracis-28353	89	16	where	where	SCONJ
bracis-28353	89	17	the	the	DET
bracis-28353	89	18	same	same	ADJ
bracis-28353	89	19	plan	plan	NOUN
bracis-28353	89	20	can	can	AUX
bracis-28353	89	21	be	be	AUX
bracis-28353	89	22	used	use	VERB
bracis-28353	89	23	for	for	ADP
bracis-28353	89	24	multiple	multiple	ADJ
bracis-28353	89	25	problem	problem	NOUN
bracis-28353	89	26	instances	instance	NOUN
bracis-28353	89	27	.	.	PUNCT
bracis-28353	90	1	it	it	PRON
bracis-28353	90	2	generates	generate	VERB
bracis-28353	90	3	policies	policy	NOUN
bracis-28353	90	4	by	by	ADP
bracis-28353	90	5	transforming	transform	VERB
bracis-28353	90	6	multiple	multiple	ADJ
bracis-28353	90	7	concrete	concrete	ADJ
bracis-28353	90	8	problems	problem	NOUN
bracis-28353	90	9	into	into	ADP
bracis-28353	90	10	a	a	DET
bracis-28353	90	11	single	single	ADJ
bracis-28353	90	12	abstract	abstract	NOUN
bracis-28353	90	13	(	(	PUNCT
bracis-28353	90	14	lifted	lift	VERB
bracis-28353	90	15	)	)	PUNCT
bracis-28353	90	16	problem	problem	NOUN
bracis-28353	90	17	that	that	PRON
bracis-28353	90	18	captures	capture	VERB
bracis-28353	90	19	their	their	PRON
bracis-28353	90	20	common	common	ADJ
bracis-28353	90	21	structure	structure	NOUN
bracis-28353	90	22	.	.	PUNCT
bracis-28353	91	1	the	the	DET
bracis-28353	91	2	global	global	ADJ
bracis-28353	91	3	structure	structure	NOUN
bracis-28353	91	4	of	of	ADP
bracis-28353	91	5	the	the	DET
bracis-28353	91	6	problems	problem	NOUN
bracis-28353	91	7	can	can	AUX
bracis-28353	91	8	be	be	AUX
bracis-28353	91	9	captured	capture	VERB
bracis-28353	91	10	through	through	ADP
bracis-28353	91	11	qualitative	qualitative	ADJ
bracis-28353	91	12	preferences	preference	NOUN
bracis-28353	91	13	expressed	express	VERB
bracis-28353	91	14	as	as	ADP
bracis-28353	91	15	formulas	formula	NOUN
bracis-28353	91	16	in	in	ADP
bracis-28353	91	17	ltl	ltl	PROPN
bracis-28353	91	18	logic	logic	NOUN
bracis-28353	91	19	.	.	PUNCT
bracis-28353	92	1	in	in	ADP
bracis-28353	92	2	addition	addition	NOUN
bracis-28353	92	3	,	,	PUNCT
bracis-28353	92	4	the	the	DET
bracis-28353	92	5	authors	author	NOUN
bracis-28353	92	6	demonstrate	demonstrate	VERB
bracis-28353	92	7	that	that	SCONJ
bracis-28353	92	8	for	for	ADP
bracis-28353	92	9	a	a	DET
bracis-28353	92	10	wide	wide	ADJ
bracis-28353	92	11	class	class	NOUN
bracis-28353	92	12	of	of	ADP
bracis-28353	92	13	problems	problem	NOUN
bracis-28353	92	14	,	,	PUNCT
bracis-28353	92	15	path	path	NOUN
bracis-28353	92	16	constraints	constraint	NOUN
bracis-28353	92	17	can	can	AUX
bracis-28353	92	18	be	be	AUX
bracis-28353	92	19	compiled	compile	VERB
bracis-28353	92	20	,	,	PUNCT
bracis-28353	92	21	which	which	PRON
bracis-28353	92	22	reduces	reduce	VERB
bracis-28353	92	23	generalized	generalized	ADJ
bracis-28353	92	24	planning	planning	NOUN
bracis-28353	92	25	into	into	ADP
bracis-28353	92	26	non	non	ADJ
bracis-28353	92	27	-	-	ADJ
bracis-28353	92	28	deterministic	deterministic	ADJ
bracis-28353	92	29	planning	planning	NOUN
bracis-28353	92	30	.	.	PUNCT
bracis-28353	93	1	the	the	DET
bracis-28353	93	2	work	work	NOUN
bracis-28353	93	3	in	in	ADP
bracis-28353	93	4	[	[	X
bracis-28353	93	5	27	27	NUM
bracis-28353	93	6	]	]	PUNCT
bracis-28353	93	7	presents	present	VERB
bracis-28353	93	8	a	a	DET
bracis-28353	93	9	planning	planning	NOUN
bracis-28353	93	10	algorithm	algorithm	NOUN
bracis-28353	93	11	that	that	PRON
bracis-28353	93	12	aims	aim	VERB
bracis-28353	93	13	to	to	PART
bracis-28353	93	14	solve	solve	VERB
bracis-28353	93	15	non	non	ADJ
bracis-28353	93	16	-	-	ADJ
bracis-28353	93	17	deterministic	deterministic	ADJ
bracis-28353	93	18	planning	planning	NOUN
bracis-28353	93	19	problems	problem	NOUN
bracis-28353	93	20	with	with	ADP
bracis-28353	93	21	temporally	temporally	ADV
bracis-28353	93	22	extended	extend	VERB
bracis-28353	93	23	goals	goal	NOUN
bracis-28353	93	24	(	(	PUNCT
bracis-28353	93	25	complex	complex	ADJ
bracis-28353	93	26	goals	goal	NOUN
bracis-28353	93	27	)	)	PUNCT
bracis-28353	93	28	,	,	PUNCT
bracis-28353	93	29	while	while	SCONJ
bracis-28353	93	30	also	also	ADV
bracis-28353	93	31	considering	consider	VERB
bracis-28353	93	32	the	the	DET
bracis-28353	93	33	quality	quality	NOUN
bracis-28353	93	34	of	of	ADP
bracis-28353	93	35	the	the	DET
bracis-28353	93	36	policy	policy	NOUN
bracis-28353	93	37	(	(	PUNCT
bracis-28353	93	38	weak	weak	ADJ
bracis-28353	93	39	,	,	PUNCT
bracis-28353	93	40	strong	strong	ADJ
bracis-28353	93	41	,	,	PUNCT
bracis-28353	93	42	or	or	CCONJ
bracis-28353	93	43	strong	strong	ADJ
bracis-28353	93	44	-	-	PUNCT
bracis-28353	93	45	cyclic	cyclic	NOUN
bracis-28353	93	46	)	)	PUNCT
bracis-28353	93	47	.	.	PUNCT
bracis-28353	94	1	the	the	DET
bracis-28353	94	2	proposed	propose	VERB
bracis-28353	94	3	planner	planner	NOUN
bracis-28353	94	4	utilizes	utilize	VERB
bracis-28353	94	5	the	the	DET
bracis-28353	94	6	\(\alpha	\(\alpha	ADJ
bracis-28353	94	7	-\)ctl	-\)ctl	NOUN
bracis-28353	94	8	model	model	NOUN
bracis-28353	94	9	checking	check	VERB
bracis-28353	94	10	framework	framework	NOUN
bracis-28353	94	11	to	to	PART
bracis-28353	94	12	tackle	tackle	VERB
bracis-28353	94	13	these	these	DET
bracis-28353	94	14	kind	kind	NOUN
bracis-28353	94	15	of	of	ADP
bracis-28353	94	16	problems	problem	NOUN
bracis-28353	94	17	.	.	PUNCT
bracis-28353	95	1	our	our	PRON
bracis-28353	95	2	work	work	NOUN
bracis-28353	95	3	is	be	AUX
bracis-28353	95	4	an	an	DET
bracis-28353	95	5	application	application	NOUN
bracis-28353	95	6	of	of	ADP
bracis-28353	95	7	such	such	ADJ
bracis-28353	95	8	planner	planner	NOUN
bracis-28353	95	9	for	for	ADP
bracis-28353	95	10	problems	problem	NOUN
bracis-28353	95	11	with	with	ADP
bracis-28353	95	12	complex	complex	ADJ
bracis-28353	95	13	goals	goal	NOUN
bracis-28353	95	14	involving	involve	VERB
bracis-28353	95	15	qualitative	qualitative	ADJ
bracis-28353	95	16	preferences	preference	NOUN
bracis-28353	95	17	.	.	PUNCT
bracis-28353	96	1	3	3	NUM
bracis-28353	96	2	foundations	foundation	NOUN
bracis-28353	96	3	3.1	3.1	NUM
bracis-28353	96	4	non	non	ADJ
bracis-28353	96	5	-	-	ADJ
bracis-28353	96	6	deterministic	deterministic	ADJ
bracis-28353	96	7	planning	planning	NOUN
bracis-28353	96	8	in	in	ADP
bracis-28353	96	9	the	the	DET
bracis-28353	96	10	real	real	ADJ
bracis-28353	96	11	-	-	PUNCT
bracis-28353	96	12	world	world	NOUN
bracis-28353	96	13	situations	situation	NOUN
bracis-28353	96	14	,	,	PUNCT
bracis-28353	96	15	the	the	DET
bracis-28353	96	16	nature	nature	NOUN
bracis-28353	96	17	can	can	AUX
bracis-28353	96	18	cause	cause	VERB
bracis-28353	96	19	unpredictability	unpredictability	NOUN
bracis-28353	96	20	in	in	ADP
bracis-28353	96	21	the	the	DET
bracis-28353	96	22	effects	effect	NOUN
bracis-28353	96	23	the	the	DET
bracis-28353	96	24	actions	action	NOUN
bracis-28353	96	25	.	.	PUNCT
bracis-28353	97	1	as	as	ADP
bracis-28353	97	2	a	a	DET
bracis-28353	97	3	result	result	NOUN
bracis-28353	97	4	,	,	PUNCT
bracis-28353	97	5	when	when	SCONJ
bracis-28353	97	6	an	an	DET
bracis-28353	97	7	agent	agent	NOUN
bracis-28353	97	8	is	be	AUX
bracis-28353	97	9	in	in	ADP
bracis-28353	97	10	a	a	DET
bracis-28353	97	11	state	state	NOUN
bracis-28353	97	12	\(s_i\	\(s_i\	NOUN
bracis-28353	97	13	)	)	PUNCT
bracis-28353	97	14	and	and	CCONJ
bracis-28353	97	15	chooses	choose	VERB
bracis-28353	97	16	an	an	DET
bracis-28353	97	17	action	action	NOUN
bracis-28353	97	18	\(a_i\	\(a_i\	NOUN
bracis-28353	97	19	)	)	PUNCT
bracis-28353	97	20	with	with	ADP
bracis-28353	97	21	the	the	DET
bracis-28353	97	22	intention	intention	NOUN
bracis-28353	97	23	of	of	ADP
bracis-28353	97	24	reaching	reach	VERB
bracis-28353	97	25	a	a	DET
bracis-28353	97	26	particular	particular	ADJ
bracis-28353	97	27	state	state	NOUN
bracis-28353	97	28	\(s_j\	\(s_j\	NOUN
bracis-28353	97	29	)	)	PUNCT
bracis-28353	97	30	,	,	PUNCT
bracis-28353	97	31	the	the	DET
bracis-28353	97	32	interference	interference	NOUN
bracis-28353	97	33	of	of	ADP
bracis-28353	97	34	nature	nature	NOUN
bracis-28353	97	35	can	can	AUX
bracis-28353	97	36	cause	cause	VERB
bracis-28353	97	37	the	the	DET
bracis-28353	97	38	agent	agent	NOUN
bracis-28353	97	39	to	to	PART
bracis-28353	97	40	end	end	VERB
bracis-28353	97	41	up	up	ADP
bracis-28353	97	42	in	in	ADP
bracis-28353	97	43	a	a	DET
bracis-28353	97	44	different	different	ADJ
bracis-28353	97	45	state	state	NOUN
bracis-28353	97	46	\(s_k\	\(s_k\	NOUN
bracis-28353	97	47	)	)	PUNCT
bracis-28353	97	48	instead	instead	ADV
bracis-28353	97	49	.	.	PUNCT
bracis-28353	98	1	a	a	DET
bracis-28353	98	2	non	non	ADJ
bracis-28353	98	3	-	-	ADJ
bracis-28353	98	4	deterministic	deterministic	ADJ
bracis-28353	98	5	planning	planning	NOUN
bracis-28353	98	6	domain	domain	NOUN
bracis-28353	98	7	can	can	AUX
bracis-28353	98	8	be	be	AUX
bracis-28353	98	9	characterized	characterize	VERB
bracis-28353	98	10	as	as	ADP
bracis-28353	98	11	a	a	DET
bracis-28353	98	12	state	state	NOUN
bracis-28353	98	13	transition	transition	NOUN
bracis-28353	98	14	system	system	NOUN
bracis-28353	98	15	,	,	PUNCT
bracis-28353	98	16	as	as	SCONJ
bracis-28353	98	17	showed	show	VERB
bracis-28353	98	18	in	in	ADP
bracis-28353	98	19	definition	definition	NOUN
bracis-28353	98	20	 	 	SPACE
bracis-28353	98	21	1	1	NUM
bracis-28353	98	22	.	.	PUNCT
bracis-28353	99	1	in	in	ADP
bracis-28353	99	2	this	this	DET
bracis-28353	99	3	kind	kind	NOUN
bracis-28353	99	4	of	of	ADP
bracis-28353	99	5	domain	domain	NOUN
bracis-28353	99	6	,	,	PUNCT
bracis-28353	99	7	when	when	SCONJ
bracis-28353	99	8	an	an	DET
bracis-28353	99	9	action	action	NOUN
bracis-28353	99	10	is	be	AUX
bracis-28353	99	11	performed	perform	VERB
bracis-28353	99	12	in	in	ADP
bracis-28353	99	13	one	one	NUM
bracis-28353	99	14	state	state	NOUN
bracis-28353	99	15	,	,	PUNCT
bracis-28353	99	16	it	it	PRON
bracis-28353	99	17	can	can	AUX
bracis-28353	99	18	lead	lead	VERB
bracis-28353	99	19	to	to	ADP
bracis-28353	99	20	more	more	ADJ
bracis-28353	99	21	than	than	ADP
bracis-28353	99	22	one	one	NUM
bracis-28353	99	23	successor	successor	NOUN
bracis-28353	99	24	state	state	NOUN
bracis-28353	99	25	.	.	PUNCT
bracis-28353	100	1	definition	definition	NOUN
bracis-28353	100	2	1	1	NUM
bracis-28353	100	3	[	[	X
bracis-28353	100	4	non	non	ADJ
bracis-28353	100	5	-	-	ADJ
bracis-28353	100	6	deterministic	deterministic	ADJ
bracis-28353	100	7	planning	planning	NOUN
bracis-28353	100	8	domain	domain	NOUN
bracis-28353	100	9	]	]	PUNCT
bracis-28353	100	10	given	give	VERB
bracis-28353	100	11	a	a	DET
bracis-28353	100	12	set	set	NOUN
bracis-28353	100	13	of	of	ADP
bracis-28353	100	14	propositional	propositional	ADJ
bracis-28353	100	15	atoms	atom	NOUN
bracis-28353	100	16	\(\mathbb	\(\mathbb	NOUN
bracis-28353	100	17	{	{	PUNCT
bracis-28353	100	18	p}\	p}\	NUM
bracis-28353	100	19	)	)	PUNCT
bracis-28353	100	20	and	and	CCONJ
bracis-28353	100	21	a	a	DET
bracis-28353	100	22	set	set	NOUN
bracis-28353	100	23	of	of	ADP
bracis-28353	100	24	actions	action	NOUN
bracis-28353	100	25	\(\mathbb	\(\mathbb	VERB
bracis-28353	100	26	{	{	PUNCT
bracis-28353	100	27	a}\	a}\	NUM
bracis-28353	100	28	)	)	PUNCT
bracis-28353	100	29	,	,	PUNCT
bracis-28353	100	30	a	a	DET
bracis-28353	100	31	non	non	ADJ
bracis-28353	100	32	-	-	ADJ
bracis-28353	100	33	deterministic	deterministic	ADJ
bracis-28353	100	34	planning	planning	NOUN
bracis-28353	100	35	domain	domain	NOUN
bracis-28353	100	36	is	be	AUX
bracis-28353	100	37	defined	define	VERB
bracis-28353	100	38	by	by	ADP
bracis-28353	100	39	a	a	DET
bracis-28353	100	40	tuple	tuple	NOUN
bracis-28353	100	41	\(\mathcal	\(\mathcal	NOUN
bracis-28353	100	42	{	{	PUNCT
bracis-28353	100	43	d	d	NOUN
bracis-28353	100	44	}	}	PUNCT
bracis-28353	100	45	=	=	PUNCT
bracis-28353	100	46	\langle	\langle	PROPN
bracis-28353	100	47	s	s	PROPN
bracis-28353	100	48	,	,	PUNCT
bracis-28353	100	49	l	l	NOUN
bracis-28353	100	50	,	,	PUNCT
bracis-28353	100	51	t\rangle	t\rangle	NOUN
bracis-28353	100	52	\	\	NOUN
bracis-28353	100	53	)	)	PUNCT
bracis-28353	100	54	where	where	SCONJ
bracis-28353	100	55	states	state	NOUN
bracis-28353	100	56	are	be	AUX
bracis-28353	100	57	labeled	label	VERB
bracis-28353	100	58	by	by	ADP
bracis-28353	100	59	elements	element	NOUN
bracis-28353	100	60	of	of	ADP
bracis-28353	100	61	\(\mathbb	\(\mathbb	NOUN
bracis-28353	100	62	{	{	PUNCT
bracis-28353	100	63	p}\	p}\	NUM
bracis-28353	100	64	)	)	PUNCT
bracis-28353	100	65	and	and	CCONJ
bracis-28353	100	66	actions	action	NOUN
bracis-28353	100	67	are	be	AUX
bracis-28353	100	68	labeled	label	VERB
bracis-28353	100	69	by	by	ADP
bracis-28353	100	70	elements	element	NOUN
bracis-28353	100	71	of	of	ADP
bracis-28353	100	72	\(\mathbb	\(\mathbb	PUNCT
bracis-28353	100	73	{	{	PUNCT
bracis-28353	100	74	a}\	a}\	NUM
bracis-28353	100	75	)	)	PUNCT
bracis-28353	101	1	[	[	X
bracis-28353	101	2	9	9	NUM
bracis-28353	101	3	]	]	PUNCT
bracis-28353	101	4	:	:	PUNCT
bracis-28353	101	5	s	s	X
bracis-28353	101	6	is	be	AUX
bracis-28353	101	7	a	a	DET
bracis-28353	101	8	finite	finite	ADJ
bracis-28353	101	9	set	set	NOUN
bracis-28353	101	10	of	of	ADP
bracis-28353	101	11	states	state	NOUN
bracis-28353	101	12	;	;	PUNCT
bracis-28353	101	13	\	\	PROPN
bracis-28353	101	14	(	(	PUNCT
bracis-28353	101	15	l	l	NOUN
bracis-28353	101	16	:	:	PUNCT
bracis-28353	101	17	s	s	X
bracis-28353	101	18	\rightarrow	\rightarrow	PROPN
bracis-28353	101	19	2^{\mathbb	2^{\mathbb	NUM
bracis-28353	101	20	{	{	PUNCT
bracis-28353	101	21	p}}\	p}}\	NOUN
bracis-28353	101	22	)	)	PUNCT
bracis-28353	101	23	is	be	AUX
bracis-28353	101	24	a	a	DET
bracis-28353	101	25	state	state	NOUN
bracis-28353	101	26	label	label	NOUN
bracis-28353	101	27	function	function	NOUN
bracis-28353	101	28	;	;	PUNCT
bracis-28353	101	29	and	and	CCONJ
bracis-28353	101	30	\	\	PROPN
bracis-28353	101	31	(	(	PUNCT
bracis-28353	101	32	t	t	NOUN
bracis-28353	101	33	:	:	PUNCT
bracis-28353	101	34	s	s	NOUN
bracis-28353	101	35	\times	\time	VERB
bracis-28353	101	36	\mathbb	\mathbb	PROPN
bracis-28353	101	37	{	{	PUNCT
bracis-28353	101	38	a	a	PRON
bracis-28353	101	39	}	}	PUNCT
bracis-28353	101	40	\rightarrow	\rightarrow	PROPN
bracis-28353	101	41	2^{s}\	2^{s}\	NUM
bracis-28353	101	42	)	)	PUNCT
bracis-28353	101	43	is	be	AUX
bracis-28353	101	44	a	a	DET
bracis-28353	101	45	non	non	ADJ
bracis-28353	101	46	-	-	ADJ
bracis-28353	101	47	deterministic	deterministic	ADJ
bracis-28353	101	48	state	state	NOUN
bracis-28353	101	49	transition	transition	NOUN
bracis-28353	101	50	function	function	NOUN
bracis-28353	101	51	.	.	PUNCT
bracis-28353	102	1	we	we	PRON
bracis-28353	102	2	assume	assume	VERB
bracis-28353	102	3	that	that	SCONJ
bracis-28353	102	4	the	the	DET
bracis-28353	102	5	set	set	NOUN
bracis-28353	102	6	\(\mathbb	\(\mathbb	NOUN
bracis-28353	102	7	{	{	PUNCT
bracis-28353	102	8	a}\	a}\	NUM
bracis-28353	102	9	)	)	PUNCT
bracis-28353	102	10	contains	contain	VERB
bracis-28353	102	11	the	the	DET
bracis-28353	102	12	trivial	trivial	ADJ
bracis-28353	102	13	action	action	NOUN
bracis-28353	102	14	\(\tau	\(\tau	PUNCT
bracis-28353	102	15	\	\	NUM
bracis-28353	102	16	)	)	PUNCT
bracis-28353	102	17	and	and	CCONJ
bracis-28353	102	18	that	that	PRON
bracis-28353	102	19	\(t(s,\tau	\(t(s,\tau	ADV
bracis-28353	102	20	)	)	PUNCT
bracis-28353	103	1	=	=	SYM
bracis-28353	103	2	\{s\}\	\{s\}\	NOUN
bracis-28353	103	3	)	)	PUNCT
bracis-28353	103	4	,	,	PUNCT
bracis-28353	103	5	for	for	ADP
bracis-28353	103	6	every	every	DET
bracis-28353	103	7	final	final	ADJ
bracis-28353	103	8	state	state	NOUN
bracis-28353	103	9	\(s	\(s	ADJ
bracis-28353	103	10	\in	\in	PROPN
bracis-28353	103	11	s\	s\	NOUN
bracis-28353	103	12	)	)	PUNCT
bracis-28353	103	13	.	.	PUNCT
bracis-28353	104	1	intuitively	intuitively	ADV
bracis-28353	104	2	,	,	PUNCT
bracis-28353	104	3	this	this	DET
bracis-28353	104	4	action	action	NOUN
bracis-28353	104	5	represents	represent	VERB
bracis-28353	104	6	that	that	SCONJ
bracis-28353	104	7	the	the	DET
bracis-28353	104	8	agent	agent	NOUN
bracis-28353	104	9	may	may	AUX
bracis-28353	104	10	choose	choose	VERB
bracis-28353	104	11	to	to	PART
bracis-28353	104	12	do	do	VERB
bracis-28353	104	13	nothing	nothing	PRON
bracis-28353	104	14	.	.	PUNCT
bracis-28353	105	1	as	as	SCONJ
bracis-28353	105	2	the	the	DET
bracis-28353	105	3	number	number	NOUN
bracis-28353	105	4	of	of	ADP
bracis-28353	105	5	propositions	proposition	NOUN
bracis-28353	105	6	increases	increase	NOUN
bracis-28353	105	7	,	,	PUNCT
bracis-28353	105	8	it	it	PRON
bracis-28353	105	9	becomes	become	VERB
bracis-28353	105	10	unfeasible	unfeasible	ADJ
bracis-28353	105	11	to	to	PART
bracis-28353	105	12	explicitly	explicitly	ADV
bracis-28353	105	13	represent	represent	VERB
bracis-28353	105	14	planning	planning	NOUN
bracis-28353	105	15	domains	domain	NOUN
bracis-28353	105	16	.	.	PUNCT
bracis-28353	106	1	therefore	therefore	ADV
bracis-28353	106	2	,	,	PUNCT
bracis-28353	106	3	the	the	DET
bracis-28353	106	4	planning	planning	NOUN
bracis-28353	106	5	community	community	NOUN
bracis-28353	106	6	uses	use	VERB
bracis-28353	106	7	action	action	NOUN
bracis-28353	106	8	languages	language	NOUN
bracis-28353	106	9	(	(	PUNCT
bracis-28353	106	10	such	such	ADJ
bracis-28353	106	11	as	as	ADP
bracis-28353	106	12	the	the	DET
bracis-28353	106	13	planning	planning	NOUN
bracis-28353	106	14	domain	domain	NOUN
bracis-28353	106	15	description	description	NOUN
bracis-28353	106	16	language	language	NOUN
bracis-28353	106	17	pddl	pddl	NOUN
bracis-28353	106	18	)	)	PUNCT
bracis-28353	106	19	to	to	PART
bracis-28353	106	20	concisely	concisely	ADV
bracis-28353	106	21	describe	describe	VERB
bracis-28353	106	22	domains	domain	NOUN
bracis-28353	106	23	.	.	PUNCT
bracis-28353	107	1	in	in	ADP
bracis-28353	107	2	this	this	DET
bracis-28353	107	3	representation	representation	NOUN
bracis-28353	107	4	,	,	PUNCT
bracis-28353	107	5	actions	action	NOUN
bracis-28353	107	6	are	be	AUX
bracis-28353	107	7	defined	define	VERB
bracis-28353	107	8	by	by	ADP
bracis-28353	107	9	their	their	PRON
bracis-28353	107	10	preconditions	precondition	NOUN
bracis-28353	107	11	and	and	CCONJ
bracis-28353	107	12	effects	effect	NOUN
bracis-28353	107	13	.	.	PUNCT
bracis-28353	108	1	preconditions	precondition	NOUN
bracis-28353	108	2	are	be	AUX
bracis-28353	108	3	propositions	proposition	NOUN
bracis-28353	108	4	that	that	PRON
bracis-28353	108	5	must	must	AUX
bracis-28353	108	6	be	be	AUX
bracis-28353	108	7	true	true	ADJ
bracis-28353	108	8	in	in	ADP
bracis-28353	108	9	a	a	DET
bracis-28353	108	10	state	state	NOUN
bracis-28353	108	11	for	for	ADP
bracis-28353	108	12	an	an	DET
bracis-28353	108	13	action	action	NOUN
bracis-28353	108	14	to	to	PART
bracis-28353	108	15	be	be	AUX
bracis-28353	108	16	executed	execute	VERB
bracis-28353	108	17	,	,	PUNCT
bracis-28353	108	18	while	while	SCONJ
bracis-28353	108	19	effects	effect	NOUN
bracis-28353	108	20	are	be	AUX
bracis-28353	108	21	the	the	DET
bracis-28353	108	22	literals	literal	NOUN
bracis-28353	108	23	that	that	PRON
bracis-28353	108	24	are	be	AUX
bracis-28353	108	25	modified	modify	VERB
bracis-28353	108	26	in	in	ADP
bracis-28353	108	27	a	a	DET
bracis-28353	108	28	state	state	NOUN
bracis-28353	108	29	to	to	PART
bracis-28353	108	30	produce	produce	VERB
bracis-28353	108	31	a	a	DET
bracis-28353	108	32	set	set	NOUN
bracis-28353	108	33	of	of	ADP
bracis-28353	108	34	possible	possible	ADJ
bracis-28353	108	35	next	next	ADJ
bracis-28353	108	36	states	state	NOUN
bracis-28353	108	37	.	.	PUNCT
bracis-28353	109	1	after	after	ADP
bracis-28353	109	2	defining	define	VERB
bracis-28353	109	3	the	the	DET
bracis-28353	109	4	domain	domain	NOUN
bracis-28353	109	5	,	,	PUNCT
bracis-28353	109	6	the	the	DET
bracis-28353	109	7	next	next	ADJ
bracis-28353	109	8	step	step	NOUN
bracis-28353	109	9	is	be	AUX
bracis-28353	109	10	to	to	PART
bracis-28353	109	11	formalize	formalize	VERB
bracis-28353	109	12	the	the	DET
bracis-28353	109	13	planning	planning	NOUN
bracis-28353	109	14	problem	problem	NOUN
bracis-28353	109	15	.	.	PUNCT
bracis-28353	110	1	definition	definition	NOUN
bracis-28353	110	2	2	2	NUM
bracis-28353	110	3	(	(	PUNCT
bracis-28353	110	4	non	non	ADJ
bracis-28353	110	5	-	-	ADJ
bracis-28353	110	6	deterministic	deterministic	ADJ
bracis-28353	110	7	planning	planning	NOUN
bracis-28353	110	8	problem	problem	NOUN
bracis-28353	110	9	)	)	PUNCT
bracis-28353	110	10	.	.	PUNCT
bracis-28353	111	1	given	give	VERB
bracis-28353	111	2	a	a	DET
bracis-28353	111	3	non	non	ADJ
bracis-28353	111	4	deterministic	deterministic	ADJ
bracis-28353	111	5	planning	planning	NOUN
bracis-28353	111	6	domain	domain	NOUN
bracis-28353	111	7	\(\mathcal	\(\mathcal	ADJ
bracis-28353	111	8	{	{	PUNCT
bracis-28353	111	9	d}\	d}\	PROPN
bracis-28353	111	10	)	)	PUNCT
bracis-28353	111	11	,	,	PUNCT
bracis-28353	111	12	a	a	DET
bracis-28353	111	13	non	non	ADJ
bracis-28353	111	14	-	-	ADJ
bracis-28353	111	15	deterministic	deterministic	ADJ
bracis-28353	111	16	planning	planning	NOUN
bracis-28353	111	17	problem	problem	NOUN
bracis-28353	111	18	is	be	AUX
bracis-28353	111	19	defined	define	VERB
bracis-28353	111	20	by	by	ADP
bracis-28353	111	21	a	a	DET
bracis-28353	111	22	tuple	tuple	NOUN
bracis-28353	111	23	\(p	\(p	NOUN
bracis-28353	111	24	=	=	SYM
bracis-28353	111	25	(	(	PUNCT
bracis-28353	111	26	\mathcal	\mathcal	PROPN
bracis-28353	111	27	{	{	PUNCT
bracis-28353	111	28	d	d	NOUN
bracis-28353	111	29	}	}	PUNCT
bracis-28353	111	30	,	,	PUNCT
bracis-28353	111	31	s_0	s_0	ADJ
bracis-28353	111	32	,	,	PUNCT
bracis-28353	111	33	\varphi	\varphi	PROPN
bracis-28353	111	34	)	)	PUNCT
bracis-28353	111	35	\	\	NOUN
bracis-28353	111	36	)	)	PUNCT
bracis-28353	111	37	where	where	SCONJ
bracis-28353	111	38	:	:	PUNCT
bracis-28353	111	39	\(\mathcal	\(\mathcal	ADJ
bracis-28353	111	40	{	{	PUNCT
bracis-28353	111	41	d}\	d}\	PROPN
bracis-28353	111	42	)	)	PUNCT
bracis-28353	111	43	is	be	AUX
bracis-28353	111	44	a	a	DET
bracis-28353	111	45	non	non	ADJ
bracis-28353	111	46	-	-	ADJ
bracis-28353	111	47	deterministic	deterministic	ADJ
bracis-28353	111	48	planning	planning	NOUN
bracis-28353	111	49	domain	domain	NOUN
bracis-28353	111	50	;	;	PUNCT
bracis-28353	111	51	\(s_0\	\(s_0\	PROPN
bracis-28353	111	52	)	)	PUNCT
bracis-28353	111	53	is	be	AUX
bracis-28353	111	54	the	the	DET
bracis-28353	111	55	initial	initial	ADJ
bracis-28353	111	56	state	state	NOUN
bracis-28353	111	57	,	,	PUNCT
bracis-28353	111	58	and	and	CCONJ
bracis-28353	111	59	\(\varphi	\(\varphi	PROPN
bracis-28353	111	60	\	\	NOUN
bracis-28353	111	61	)	)	PUNCT
bracis-28353	111	62	is	be	AUX
bracis-28353	111	63	a	a	DET
bracis-28353	111	64	propositional	propositional	ADJ
bracis-28353	111	65	formula	formula	NOUN
bracis-28353	111	66	representing	represent	VERB
bracis-28353	111	67	the	the	DET
bracis-28353	111	68	goal	goal	NOUN
bracis-28353	111	69	.	.	PUNCT
bracis-28353	112	1	due	due	ADP
bracis-28353	112	2	to	to	ADP
bracis-28353	112	3	uncertainties	uncertainty	NOUN
bracis-28353	112	4	about	about	ADP
bracis-28353	112	5	the	the	DET
bracis-28353	112	6	effects	effect	NOUN
bracis-28353	112	7	of	of	ADP
bracis-28353	112	8	the	the	DET
bracis-28353	112	9	actions	action	NOUN
bracis-28353	112	10	,	,	PUNCT
bracis-28353	112	11	a	a	DET
bracis-28353	112	12	solution	solution	NOUN
bracis-28353	112	13	to	to	ADP
bracis-28353	112	14	a	a	DET
bracis-28353	112	15	non	non	ADJ
bracis-28353	112	16	-	-	ADJ
bracis-28353	112	17	deterministic	deterministic	ADJ
bracis-28353	112	18	problem	problem	NOUN
bracis-28353	112	19	is	be	AUX
bracis-28353	112	20	a	a	DET
bracis-28353	112	21	mapping	mapping	NOUN
bracis-28353	112	22	from	from	ADP
bracis-28353	112	23	states	state	NOUN
bracis-28353	112	24	to	to	ADP
bracis-28353	112	25	actions	action	NOUN
bracis-28353	112	26	,	,	PUNCT
bracis-28353	112	27	is	be	AUX
bracis-28353	112	28	called	call	VERB
bracis-28353	112	29	policy	policy	NOUN
bracis-28353	113	1	[	[	X
bracis-28353	113	2	9	9	NUM
bracis-28353	113	3	]	]	PUNCT
bracis-28353	113	4	.	.	PUNCT
bracis-28353	114	1	definition	definition	NOUN
bracis-28353	114	2	3	3	NUM
bracis-28353	114	3	(	(	PUNCT
bracis-28353	114	4	policy	policy	NOUN
bracis-28353	114	5	)	)	PUNCT
bracis-28353	114	6	.	.	PUNCT
bracis-28353	115	1	let	let	VERB
bracis-28353	115	2	p	p	NOUN
bracis-28353	115	3	=	=	VERB
bracis-28353	115	4	\(\langle	\(\langle	PROPN
bracis-28353	115	5	\mathcal	\mathcal	ADJ
bracis-28353	115	6	{	{	PUNCT
bracis-28353	115	7	d	d	NOUN
bracis-28353	115	8	}	}	PUNCT
bracis-28353	115	9	,	,	PUNCT
bracis-28353	115	10	s_{0	s_{0	PROPN
bracis-28353	115	11	}	}	PUNCT
bracis-28353	115	12	,	,	PUNCT
bracis-28353	115	13	\varphi	\varphi	ADP
bracis-28353	115	14	\rangle	\rangle	PROPN
bracis-28353	115	15	\	\	NOUN
bracis-28353	115	16	)	)	PUNCT
bracis-28353	115	17	be	be	AUX
bracis-28353	115	18	a	a	DET
bracis-28353	115	19	planning	planning	NOUN
bracis-28353	115	20	problem	problem	NOUN
bracis-28353	115	21	in	in	ADP
bracis-28353	115	22	the	the	DET
bracis-28353	115	23	domain	domain	NOUN
bracis-28353	115	24	\(\mathcal	\(\mathcal	ADJ
bracis-28353	115	25	{	{	PUNCT
bracis-28353	115	26	d	d	NOUN
bracis-28353	115	27	}	}	PUNCT
bracis-28353	115	28	=	=	PUNCT
bracis-28353	115	29	\langle	\langle	PROPN
bracis-28353	115	30	s	s	PROPN
bracis-28353	115	31	,	,	PUNCT
bracis-28353	115	32	l	l	NOUN
bracis-28353	115	33	,	,	PUNCT
bracis-28353	115	34	t\rangle	t\rangle	NOUN
bracis-28353	115	35	\	\	NOUN
bracis-28353	115	36	)	)	PUNCT
bracis-28353	115	37	with	with	ADP
bracis-28353	115	38	non	non	ADJ
bracis-28353	115	39	-	-	ADJ
bracis-28353	115	40	deterministic	deterministic	ADJ
bracis-28353	115	41	actions	action	NOUN
bracis-28353	115	42	.	.	PUNCT
bracis-28353	116	1	a	a	DET
bracis-28353	116	2	policy	policy	NOUN
bracis-28353	116	3	\(\pi	\(\pi	ADP
bracis-28353	116	4	\	\	NOUN
bracis-28353	116	5	)	)	PUNCT
bracis-28353	116	6	is	be	AUX
bracis-28353	116	7	a	a	DET
bracis-28353	116	8	partial	partial	ADJ
bracis-28353	116	9	function	function	NOUN
bracis-28353	116	10	\(\pi	\(\pi	PROPN
bracis-28353	116	11	:	:	PUNCT
bracis-28353	116	12	s	s	PROPN
bracis-28353	116	13	\rightarrow	\rightarrow	PROPN
bracis-28353	116	14	a\	a\	PROPN
bracis-28353	116	15	)	)	PUNCT
bracis-28353	116	16	which	which	PRON
bracis-28353	116	17	maps	map	VERB
bracis-28353	116	18	states	state	NOUN
bracis-28353	116	19	to	to	ADP
bracis-28353	116	20	actions	action	NOUN
bracis-28353	116	21	;	;	PUNCT
bracis-28353	116	22	such	such	ADJ
bracis-28353	116	23	that	that	SCONJ
bracis-28353	116	24	,	,	PUNCT
bracis-28353	116	25	for	for	ADP
bracis-28353	116	26	all	all	DET
bracis-28353	116	27	state	state	NOUN
bracis-28353	116	28	\(s	\(	VERB
bracis-28353	116	29	\in	\in	PROPN
bracis-28353	116	30	s\	s\	NOUN
bracis-28353	116	31	)	)	PUNCT
bracis-28353	116	32	if	if	SCONJ
bracis-28353	116	33	\(\pi	\(\pi	PROPN
bracis-28353	116	34	\	\	NOUN
bracis-28353	116	35	)	)	PUNCT
bracis-28353	116	36	is	be	AUX
bracis-28353	116	37	set	set	VERB
bracis-28353	116	38	to	to	ADP
bracis-28353	116	39	s	s	VERB
bracis-28353	116	40	then	then	ADV
bracis-28353	116	41	[	[	X
bracis-28353	116	42	21	21	NUM
bracis-28353	116	43	]	]	PUNCT
bracis-28353	116	44	.	.	PUNCT
bracis-28353	117	1	the	the	DET
bracis-28353	117	2	quality	quality	NOUN
bracis-28353	117	3	of	of	ADP
bracis-28353	117	4	a	a	DET
bracis-28353	117	5	policy	policy	NOUN
bracis-28353	117	6	can	can	AUX
bracis-28353	117	7	be	be	AUX
bracis-28353	117	8	:	:	PUNCT
bracis-28353	117	9	weak	weak	ADJ
bracis-28353	117	10	are	be	AUX
bracis-28353	117	11	policies	policy	NOUN
bracis-28353	117	12	that	that	PRON
bracis-28353	117	13	can	can	AUX
bracis-28353	117	14	reach	reach	VERB
bracis-28353	117	15	a	a	DET
bracis-28353	117	16	goal	goal	NOUN
bracis-28353	117	17	state	state	NOUN
bracis-28353	117	18	,	,	PUNCT
bracis-28353	117	19	but	but	CCONJ
bracis-28353	117	20	there	there	PRON
bracis-28353	117	21	is	be	VERB
bracis-28353	117	22	no	no	DET
bracis-28353	117	23	guarantee	guarantee	NOUN
bracis-28353	117	24	due	due	ADP
bracis-28353	117	25	to	to	ADP
bracis-28353	117	26	the	the	DET
bracis-28353	117	27	non	non	NOUN
bracis-28353	117	28	-	-	NOUN
bracis-28353	117	29	determinism	determinism	NOUN
bracis-28353	117	30	of	of	ADP
bracis-28353	117	31	actions	action	NOUN
bracis-28353	117	32	;	;	PUNCT
bracis-28353	117	33	strong	strong	ADJ
bracis-28353	117	34	are	be	AUX
bracis-28353	117	35	policies	policy	NOUN
bracis-28353	117	36	that	that	PRON
bracis-28353	117	37	reach	reach	VERB
bracis-28353	117	38	a	a	DET
bracis-28353	117	39	goal	goal	NOUN
bracis-28353	117	40	state	state	NOUN
bracis-28353	117	41	,	,	PUNCT
bracis-28353	117	42	independently	independently	ADV
bracis-28353	117	43	of	of	ADP
bracis-28353	117	44	the	the	DET
bracis-28353	117	45	non	non	NOUN
bracis-28353	117	46	-	-	NOUN
bracis-28353	117	47	determinism	determinism	ADJ
bracis-28353	117	48	and	and	CCONJ
bracis-28353	117	49	,	,	PUNCT
bracis-28353	117	50	strong	strong	ADJ
bracis-28353	117	51	-	-	PUNCT
bracis-28353	117	52	cyclic	cyclic	NOUN
bracis-28353	117	53	are	be	AUX
bracis-28353	117	54	policy	policy	NOUN
bracis-28353	117	55	that	that	PRON
bracis-28353	117	56	guarantees	guarantee	VERB
bracis-28353	117	57	to	to	PART
bracis-28353	117	58	reach	reach	VERB
bracis-28353	117	59	a	a	DET
bracis-28353	117	60	goal	goal	NOUN
bracis-28353	117	61	state	state	NOUN
bracis-28353	117	62	,	,	PUNCT
bracis-28353	117	63	under	under	ADP
bracis-28353	117	64	the	the	DET
bracis-28353	117	65	assumption	assumption	NOUN
bracis-28353	117	66	that	that	SCONJ
bracis-28353	117	67	the	the	DET
bracis-28353	117	68	agent	agent	NOUN
bracis-28353	117	69	will	will	AUX
bracis-28353	117	70	eventually	eventually	ADV
bracis-28353	117	71	exit	exit	VERB
bracis-28353	117	72	cycles	cycle	NOUN
bracis-28353	117	73	[	[	X
bracis-28353	117	74	6	6	NUM
bracis-28353	117	75	]	]	PUNCT
bracis-28353	117	76	.	.	PUNCT
bracis-28353	118	1	definition	definition	NOUN
bracis-28353	118	2	4	4	NUM
bracis-28353	118	3	(	(	PUNCT
bracis-28353	118	4	set	set	NOUN
bracis-28353	118	5	of	of	ADP
bracis-28353	118	6	states	state	NOUN
bracis-28353	118	7	reachable	reachable	ADJ
bracis-28353	118	8	by	by	ADP
bracis-28353	118	9	a	a	DET
bracis-28353	118	10	policy	policy	NOUN
bracis-28353	118	11	)	)	PUNCT
bracis-28353	118	12	.	.	PUNCT
bracis-28353	119	1	let	let	VERB
bracis-28353	119	2	\(p	\(p	NOUN
bracis-28353	119	3	=	=	PUNCT
bracis-28353	119	4	\langle	\langle	PROPN
bracis-28353	119	5	\mathcal	\mathcal	ADJ
bracis-28353	119	6	{	{	PUNCT
bracis-28353	119	7	d},s_{0},\varphi	d},s_{0},\varphi	PROPN
bracis-28353	119	8	\rangle	\rangle	PROPN
bracis-28353	119	9	\	\	NOUN
bracis-28353	119	10	)	)	PUNCT
bracis-28353	119	11	be	be	AUX
bracis-28353	119	12	a	a	DET
bracis-28353	119	13	non	non	ADJ
bracis-28353	119	14	-	-	ADJ
bracis-28353	119	15	deterministic	deterministic	ADJ
bracis-28353	119	16	planning	planning	NOUN
bracis-28353	119	17	problem	problem	NOUN
bracis-28353	119	18	and	and	CCONJ
bracis-28353	119	19	\(\pi	\(\pi	ADP
bracis-28353	119	20	\	\	NOUN
bracis-28353	119	21	)	)	PUNCT
bracis-28353	119	22	a	a	DET
bracis-28353	119	23	policy	policy	NOUN
bracis-28353	119	24	to	to	ADP
bracis-28353	119	25	a	a	DET
bracis-28353	119	26	planning	planning	NOUN
bracis-28353	119	27	problem	problem	NOUN
bracis-28353	119	28	p.	p.	NOUN
bracis-28353	119	29	the	the	DET
bracis-28353	119	30	set	set	NOUN
bracis-28353	119	31	of	of	ADP
bracis-28353	119	32	states	state	NOUN
bracis-28353	119	33	reachable	reachable	ADJ
bracis-28353	119	34	by	by	ADP
bracis-28353	119	35	a	a	DET
bracis-28353	119	36	policy	policy	NOUN
bracis-28353	119	37	\(\pi	\(\pi	ADP
bracis-28353	119	38	\	\	NOUN
bracis-28353	119	39	)	)	PUNCT
bracis-28353	119	40	,	,	PUNCT
bracis-28353	119	41	denoted	denote	VERB
bracis-28353	119	42	by	by	ADP
bracis-28353	119	43	\(s_{reach[\pi	\(s_{reach[\pi	NOUN
bracis-28353	119	44	]	]	PUNCT
bracis-28353	119	45	}	}	PUNCT
bracis-28353	119	46	\	\	NOUN
bracis-28353	119	47	)	)	PUNCT
bracis-28353	119	48	is	be	AUX
bracis-28353	119	49	defined	define	VERB
bracis-28353	119	50	by	by	ADP
bracis-28353	119	51	\	\	PROPN
bracis-28353	119	52	(	(	PUNCT
bracis-28353	119	53	\	\	PROPN
bracis-28353	119	54	{	{	PUNCT
bracis-28353	119	55	s:(s	s:(s	NOUN
bracis-28353	119	56	,	,	PUNCT
bracis-28353	119	57	a	a	PRON
bracis-28353	119	58	)	)	PUNCT
bracis-28353	119	59	\in	\in	ADJ
bracis-28353	119	60	\pi	\pi	NOUN
bracis-28353	119	61	\	\	NOUN
bracis-28353	119	62	}	}	PUNCT
bracis-28353	119	63	\cup	\cup	VERB
bracis-28353	119	64	\	\	NOUN
bracis-28353	119	65	{	{	PUNCT
bracis-28353	119	66	s	s	X
bracis-28353	119	67	{	{	PUNCT
bracis-28353	119	68	'	'	NUM
bracis-28353	119	69	}	}	PUNCT
bracis-28353	119	70	:	:	PUNCT
bracis-28353	119	71	(	(	PUNCT
bracis-28353	119	72	s	s	X
bracis-28353	119	73	,	,	PUNCT
bracis-28353	119	74	a	a	PRON
bracis-28353	119	75	)	)	PUNCT
bracis-28353	119	76	\in	\in	ADJ
bracis-28353	119	77	\pi	\pi	NOUN
bracis-28353	119	78	\,e	\,e	PROPN
bracis-28353	119	79	\	\	NOUN
bracis-28353	119	80	,	,	PUNCT
bracis-28353	119	81	s	s	X
bracis-28353	119	82	{	{	PUNCT
bracis-28353	119	83	'	'	PUNCT
bracis-28353	119	84	}	}	PUNCT
bracis-28353	119	85	\in	\in	ADJ
bracis-28353	119	86	\textrm{t}(s	\textrm{t}(s	NOUN
bracis-28353	119	87	,	,	PUNCT
bracis-28353	119	88	a	a	PRON
bracis-28353	119	89	)	)	PUNCT
bracis-28353	119	90	\}\	\}\	NOUN
bracis-28353	119	91	)	)	PUNCT
bracis-28353	120	1	[	[	X
bracis-28353	120	2	21	21	NUM
bracis-28353	120	3	]	]	PUNCT
bracis-28353	120	4	.	.	PUNCT
bracis-28353	121	1	definition	definition	NOUN
bracis-28353	121	2	5	5	NUM
bracis-28353	121	3	(	(	PUNCT
bracis-28353	121	4	execution	execution	NOUN
bracis-28353	121	5	structure	structure	NOUN
bracis-28353	121	6	of	of	ADP
bracis-28353	121	7	a	a	DET
bracis-28353	121	8	policy	policy	NOUN
bracis-28353	121	9	)	)	PUNCT
bracis-28353	121	10	.	.	PUNCT
bracis-28353	122	1	let	let	VERB
bracis-28353	122	2	\(p	\(p	NOUN
bracis-28353	122	3	=	=	PUNCT
bracis-28353	122	4	\langle	\langle	PROPN
bracis-28353	122	5	\mathcal	\mathcal	ADJ
bracis-28353	122	6	{	{	PUNCT
bracis-28353	122	7	d},s_{0},\varphi	d},s_{0},\varphi	PROPN
bracis-28353	122	8	\rangle	\rangle	PROPN
bracis-28353	122	9	\	\	NOUN
bracis-28353	122	10	)	)	PUNCT
bracis-28353	122	11	be	be	AUX
bracis-28353	122	12	a	a	DET
bracis-28353	122	13	non	non	ADJ
bracis-28353	122	14	-	-	ADJ
bracis-28353	122	15	deterministic	deterministic	ADJ
bracis-28353	122	16	planning	planning	NOUN
bracis-28353	122	17	problem	problem	NOUN
bracis-28353	122	18	and	and	CCONJ
bracis-28353	122	19	\(\pi	\(\pi	ADP
bracis-28353	122	20	\	\	NOUN
bracis-28353	122	21	)	)	PUNCT
bracis-28353	122	22	be	be	AUX
bracis-28353	122	23	a	a	DET
bracis-28353	122	24	policy	policy	NOUN
bracis-28353	122	25	for	for	ADP
bracis-28353	122	26	a	a	DET
bracis-28353	122	27	planning	planning	NOUN
bracis-28353	122	28	domain	domain	NOUN
bracis-28353	122	29	\(\mathcal	\(\mathcal	ADJ
bracis-28353	122	30	{	{	PUNCT
bracis-28353	122	31	d}\	d}\	PROPN
bracis-28353	122	32	)	)	PUNCT
bracis-28353	122	33	.	.	PUNCT
bracis-28353	123	1	the	the	DET
bracis-28353	123	2	execution	execution	NOUN
bracis-28353	123	3	structure	structure	NOUN
bracis-28353	123	4	induced	induce	VERB
bracis-28353	123	5	by	by	ADP
bracis-28353	123	6	\(\pi	\(\pi	PROPN
bracis-28353	123	7	\	\	NOUN
bracis-28353	123	8	)	)	PUNCT
bracis-28353	123	9	from	from	ADP
bracis-28353	123	10	\(s_0	\(s_0	PROPN
bracis-28353	123	11	\in	\in	PROPN
bracis-28353	123	12	s\	s\	NOUN
bracis-28353	123	13	)	)	PUNCT
bracis-28353	123	14	is	be	AUX
bracis-28353	123	15	a	a	DET
bracis-28353	123	16	tuple	tuple	NOUN
bracis-28353	123	17	\(\langle	\(\langle	PROPN
bracis-28353	123	18	s_{reach[\pi	s_{reach[\pi	PROPN
bracis-28353	123	19	]	]	PUNCT
bracis-28353	123	20	}	}	PUNCT
bracis-28353	123	21	,	,	PUNCT
bracis-28353	123	22	t	t	PROPN
bracis-28353	123	23	\rangle	\rangle	PROPN
bracis-28353	123	24	\	\	PROPN
bracis-28353	123	25	)	)	PUNCT
bracis-28353	123	26	(	(	PUNCT
bracis-28353	123	27	\(s_{reach[\pi	\(s_{reach[\pi	NOUN
bracis-28353	123	28	]	]	PUNCT
bracis-28353	123	29	}	}	PUNCT
bracis-28353	123	30	\subseteq	\subseteq	ADV
bracis-28353	123	31	s\	s\	NOUN
bracis-28353	123	32	)	)	PUNCT
bracis-28353	123	33	and	and	CCONJ
bracis-28353	123	34	\(t	\(t	NOUN
bracis-28353	124	1	\subseteq	\subseteq	PROPN
bracis-28353	124	2	s	s	VERB
bracis-28353	124	3	\times	\time	NOUN
bracis-28353	124	4	\mathbb	\mathbb	PROPN
bracis-28353	124	5	{	{	PUNCT
bracis-28353	124	6	a	a	PRON
bracis-28353	124	7	}	}	PUNCT
bracis-28353	124	8	\times	\time	NOUN
bracis-28353	124	9	s\	s\	NOUN
bracis-28353	124	10	)	)	PUNCT
bracis-28353	124	11	)	)	PUNCT
bracis-28353	124	12	which	which	PRON
bracis-28353	124	13	contains	contain	VERB
bracis-28353	124	14	all	all	DET
bracis-28353	124	15	the	the	DET
bracis-28353	124	16	states	state	NOUN
bracis-28353	124	17	and	and	CCONJ
bracis-28353	124	18	transitions	transition	NOUN
bracis-28353	124	19	that	that	PRON
bracis-28353	124	20	can	can	AUX
bracis-28353	124	21	be	be	AUX
bracis-28353	124	22	reached	reach	VERB
bracis-28353	124	23	when	when	SCONJ
bracis-28353	124	24	executing	execute	VERB
bracis-28353	124	25	policy	policy	NOUN
bracis-28353	124	26	\(\pi	\(\pi	ADP
bracis-28353	124	27	\	\	NOUN
bracis-28353	124	28	)	)	PUNCT
bracis-28353	124	29	.	.	PUNCT
bracis-28353	125	1	3.2	3.2	NUM
bracis-28353	125	2	planning	planning	NOUN
bracis-28353	125	3	as	as	ADP
bracis-28353	125	4	 	 	SPACE
bracis-28353	125	5	model	model	NOUN
bracis-28353	125	6	checking	checking	NOUN
bracis-28353	125	7	model	model	NOUN
bracis-28353	125	8	checking	check	VERB
bracis-28353	125	9	[	[	X
bracis-28353	125	10	7	7	NUM
bracis-28353	125	11	]	]	PUNCT
bracis-28353	125	12	is	be	AUX
bracis-28353	125	13	a	a	DET
bracis-28353	125	14	formal	formal	ADJ
bracis-28353	125	15	technique	technique	NOUN
bracis-28353	125	16	that	that	PRON
bracis-28353	125	17	explores	explore	VERB
bracis-28353	125	18	all	all	DET
bracis-28353	125	19	possible	possible	ADJ
bracis-28353	125	20	states	state	NOUN
bracis-28353	125	21	of	of	ADP
bracis-28353	125	22	a	a	DET
bracis-28353	125	23	transition	transition	NOUN
bracis-28353	125	24	system	system	NOUN
bracis-28353	125	25	to	to	PART
bracis-28353	125	26	verify	verify	VERB
bracis-28353	125	27	whether	whether	SCONJ
bracis-28353	125	28	a	a	DET
bracis-28353	125	29	given	give	VERB
bracis-28353	125	30	property	property	NOUN
bracis-28353	125	31	holds	hold	NOUN
bracis-28353	125	32	.	.	PUNCT
bracis-28353	126	1	applying	apply	VERB
bracis-28353	126	2	model	model	NOUN
bracis-28353	126	3	checking	checking	NOUN
bracis-28353	126	4	involves	involve	VERB
bracis-28353	126	5	:	:	PUNCT
bracis-28353	126	6	modeling	model	VERB
bracis-28353	126	7	the	the	DET
bracis-28353	126	8	system	system	NOUN
bracis-28353	126	9	;	;	PUNCT
bracis-28353	126	10	specifying	specify	VERB
bracis-28353	126	11	the	the	DET
bracis-28353	126	12	property	property	NOUN
bracis-28353	126	13	to	to	PART
bracis-28353	126	14	be	be	AUX
bracis-28353	126	15	verified	verify	VERB
bracis-28353	126	16	via	via	ADP
bracis-28353	126	17	a	a	DET
bracis-28353	126	18	logical	logical	ADJ
bracis-28353	126	19	formula	formula	NOUN
bracis-28353	126	20	;	;	PUNCT
bracis-28353	126	21	and	and	CCONJ
bracis-28353	126	22	verifying	verify	VERB
bracis-28353	126	23	the	the	DET
bracis-28353	126	24	property	property	NOUN
bracis-28353	126	25	automatically	automatically	ADV
bracis-28353	126	26	in	in	ADP
bracis-28353	126	27	the	the	DET
bracis-28353	126	28	model	model	NOUN
bracis-28353	126	29	.	.	PUNCT
bracis-28353	127	1	definition	definition	NOUN
bracis-28353	127	2	6	6	NUM
bracis-28353	127	3	(	(	PUNCT
bracis-28353	127	4	action	action	NOUN
bracis-28353	127	5	labelled	label	VERB
bracis-28353	127	6	transition	transition	NOUN
bracis-28353	127	7	system	system	NOUN
bracis-28353	127	8	)	)	PUNCT
bracis-28353	127	9	.	.	PUNCT
bracis-28353	128	1	let	let	VERB
bracis-28353	128	2	\(\mathbb	\(\mathbb	VERB
bracis-28353	128	3	{	{	PUNCT
bracis-28353	128	4	p}\	p}\	NOUN
bracis-28353	128	5	)	)	PUNCT
bracis-28353	128	6	be	be	AUX
bracis-28353	128	7	a	a	DET
bracis-28353	128	8	not	not	PART
bracis-28353	128	9	-	-	PUNCT
bracis-28353	128	10	empty	empty	ADJ
bracis-28353	128	11	set	set	NOUN
bracis-28353	128	12	of	of	ADP
bracis-28353	128	13	atomic	atomic	ADJ
bracis-28353	128	14	proposition	proposition	NOUN
bracis-28353	128	15	and	and	CCONJ
bracis-28353	128	16	\(\mathbb	\(\mathbb	X
bracis-28353	128	17	{	{	PUNCT
bracis-28353	128	18	a}\	a}\	NUM
bracis-28353	128	19	)	)	PUNCT
bracis-28353	128	20	a	a	DET
bracis-28353	128	21	set	set	NOUN
bracis-28353	128	22	of	of	ADP
bracis-28353	128	23	action	action	NOUN
bracis-28353	128	24	names	name	NOUN
bracis-28353	128	25	,	,	PUNCT
bracis-28353	128	26	an	an	DET
bracis-28353	128	27	action	action	NOUN
bracis-28353	128	28	labelled	label	VERB
bracis-28353	128	29	transition	transition	NOUN
bracis-28353	128	30	system	system	NOUN
bracis-28353	128	31	is	be	AUX
bracis-28353	128	32	a	a	DET
bracis-28353	128	33	tuple	tuple	NOUN
bracis-28353	128	34	\	\	PROPN
bracis-28353	128	35	(	(	PUNCT
bracis-28353	128	36	\mathcal	\mathcal	X
bracis-28353	128	37	{	{	PUNCT
bracis-28353	128	38	m}=	m}=	PROPN
bracis-28353	128	39	\langle	\langle	PROPN
bracis-28353	128	40	s	s	PROPN
bracis-28353	128	41	,	,	PUNCT
bracis-28353	128	42	l	l	PROPN
bracis-28353	128	43	,	,	PUNCT
bracis-28353	128	44	t	t	NOUN
bracis-28353	128	45	\rangle	\rangle	PROPN
bracis-28353	128	46	\	\	PROPN
bracis-28353	128	47	)	)	PUNCT
bracis-28353	128	48	where	where	SCONJ
bracis-28353	128	49	:	:	PUNCT
bracis-28353	128	50	s	s	X
bracis-28353	128	51	is	be	AUX
bracis-28353	128	52	a	a	DET
bracis-28353	128	53	finite	finite	NOUN
bracis-28353	128	54	nonempty	nonempty	NOUN
bracis-28353	128	55	set	set	NOUN
bracis-28353	128	56	of	of	ADP
bracis-28353	128	57	states	state	NOUN
bracis-28353	128	58	;	;	PUNCT
bracis-28353	128	59	\(l	\(l	NOUN
bracis-28353	128	60	:	:	PUNCT
bracis-28353	128	61	s	s	VERB
bracis-28353	128	62	\rightarrow	\rightarrow	PROPN
bracis-28353	128	63	2^\mathbb	2^\mathbb	NUM
bracis-28353	128	64	{	{	PUNCT
bracis-28353	128	65	p}\	p}\	NOUN
bracis-28353	128	66	)	)	PUNCT
bracis-28353	128	67	is	be	AUX
bracis-28353	128	68	the	the	DET
bracis-28353	128	69	state	state	NOUN
bracis-28353	128	70	labeling	labeling	NOUN
bracis-28353	128	71	function	function	NOUN
bracis-28353	128	72	and	and	CCONJ
bracis-28353	128	73	;	;	PUNCT
bracis-28353	128	74	\(t	\(t	PROPN
bracis-28353	128	75	\subseteq	\subseteq	PROPN
bracis-28353	128	76	s	s	VERB
bracis-28353	128	77	\times	\time	NOUN
bracis-28353	128	78	\mathbb	\mathbb	PROPN
bracis-28353	128	79	{	{	PUNCT
bracis-28353	128	80	a	a	DET
bracis-28353	128	81	}	}	PUNCT
bracis-28353	128	82	\times	\time	NOUN
bracis-28353	128	83	s\	s\	NOUN
bracis-28353	128	84	)	)	PUNCT
bracis-28353	128	85	is	be	AUX
bracis-28353	128	86	the	the	DET
bracis-28353	128	87	state	state	NOUN
bracis-28353	128	88	transition	transition	NOUN
bracis-28353	128	89	relation	relation	NOUN
bracis-28353	128	90	.	.	PUNCT
bracis-28353	129	1	definition	definition	NOUN
bracis-28353	129	2	7	7	NUM
bracis-28353	129	3	(	(	PUNCT
bracis-28353	129	4	path	path	NOUN
bracis-28353	129	5	in	in	ADP
bracis-28353	129	6	an	an	DET
bracis-28353	129	7	action	action	NOUN
bracis-28353	129	8	labelled	label	VERB
bracis-28353	129	9	transition	transition	NOUN
bracis-28353	129	10	system	system	NOUN
bracis-28353	129	11	)	)	PUNCT
bracis-28353	129	12	.	.	PUNCT
bracis-28353	130	1	a	a	DET
bracis-28353	130	2	path	path	NOUN
bracis-28353	130	3	\(\rho	\(\rho	PUNCT
bracis-28353	131	1	\	\	NOUN
bracis-28353	131	2	)	)	PUNCT
bracis-28353	131	3	in	in	ADP
bracis-28353	131	4	an	an	DET
bracis-28353	131	5	action	action	NOUN
bracis-28353	131	6	labelled	label	VERB
bracis-28353	131	7	transition	transition	NOUN
bracis-28353	131	8	system	system	NOUN
bracis-28353	131	9	\(\mathcal	\(\mathcal	ADJ
bracis-28353	131	10	{	{	PUNCT
bracis-28353	131	11	m}\	m}\	PROPN
bracis-28353	131	12	)	)	PUNCT
bracis-28353	131	13	is	be	AUX
bracis-28353	131	14	a	a	DET
bracis-28353	131	15	sequence	sequence	NOUN
bracis-28353	131	16	of	of	ADP
bracis-28353	131	17	states	state	NOUN
bracis-28353	131	18	\(s_{0	\(s_{0	ADV
bracis-28353	131	19	}	}	PUNCT
bracis-28353	131	20	,	,	PUNCT
bracis-28353	131	21	s_{1	s_{1	PROPN
bracis-28353	131	22	}	}	PUNCT
bracis-28353	131	23	,	,	PUNCT
bracis-28353	131	24	s_{2	s_{2	ADJ
bracis-28353	131	25	}	}	PUNCT
bracis-28353	131	26	,	,	PUNCT
bracis-28353	131	27	s_{3	s_{3	PROPN
bracis-28353	131	28	}	}	PUNCT
bracis-28353	131	29	,	,	PUNCT
bracis-28353	131	30	\ldots	\ldots	PROPN
bracis-28353	131	31	,	,	PUNCT
bracis-28353	131	32	\	\	PROPN
bracis-28353	131	33	)	)	PUNCT
bracis-28353	131	34	such	such	ADJ
bracis-28353	131	35	that	that	SCONJ
bracis-28353	131	36	\(s_i	\(s_i	ADV
bracis-28353	131	37	\in	\in	ADJ
bracis-28353	131	38	s\	s\	NOUN
bracis-28353	131	39	)	)	PUNCT
bracis-28353	131	40	and	and	CCONJ
bracis-28353	131	41	\((s_{i	\((s_{i	ADP
bracis-28353	131	42	}	}	PUNCT
bracis-28353	131	43	,	,	PUNCT
bracis-28353	131	44	a	a	PRON
bracis-28353	131	45	,	,	PUNCT
bracis-28353	131	46	s_{i+1	s_{i+1	NOUN
bracis-28353	131	47	}	}	PUNCT
bracis-28353	131	48	)	)	PUNCT
bracis-28353	131	49	\in	\in	PROPN
bracis-28353	131	50	t\	t\	PROPN
bracis-28353	131	51	)	)	PUNCT
bracis-28353	131	52	,	,	PUNCT
bracis-28353	131	53	for	for	ADP
bracis-28353	131	54	all	all	DET
bracis-28353	131	55	\	\	NOUN
bracis-28353	131	56	(	(	PUNCT
bracis-28353	131	57	i	i	PRON
bracis-28353	131	58	\ge	\ge	VERB
bracis-28353	131	59	0	0	NUM
bracis-28353	131	60	\	\	NOUN
bracis-28353	131	61	)	)	PUNCT
bracis-28353	131	62	.	.	PUNCT
bracis-28353	132	1	we	we	PRON
bracis-28353	132	2	can	can	AUX
bracis-28353	132	3	combine	combine	VERB
bracis-28353	132	4	the	the	DET
bracis-28353	132	5	model	model	NOUN
bracis-28353	132	6	checking	checking	NOUN
bracis-28353	132	7	and	and	CCONJ
bracis-28353	132	8	planning	planning	NOUN
bracis-28353	132	9	approaches	approach	NOUN
bracis-28353	132	10	to	to	PART
bracis-28353	132	11	find	find	VERB
bracis-28353	132	12	solutions	solution	NOUN
bracis-28353	132	13	to	to	ADP
bracis-28353	132	14	planning	planning	NOUN
bracis-28353	132	15	problems	problem	NOUN
bracis-28353	132	16	.	.	PUNCT
bracis-28353	133	1	in	in	ADP
bracis-28353	133	2	this	this	DET
bracis-28353	133	3	context	context	NOUN
bracis-28353	133	4	,	,	PUNCT
bracis-28353	133	5	the	the	DET
bracis-28353	133	6	domain	domain	NOUN
bracis-28353	133	7	represents	represent	VERB
bracis-28353	133	8	the	the	DET
bracis-28353	133	9	model	model	NOUN
bracis-28353	133	10	to	to	PART
bracis-28353	133	11	be	be	AUX
bracis-28353	133	12	checked	check	VERB
bracis-28353	133	13	,	,	PUNCT
bracis-28353	133	14	and	and	CCONJ
bracis-28353	133	15	the	the	DET
bracis-28353	133	16	temporal	temporal	ADJ
bracis-28353	133	17	logic	logic	NOUN
bracis-28353	133	18	formula	formula	NOUN
bracis-28353	133	19	expresses	express	VERB
bracis-28353	133	20	the	the	DET
bracis-28353	133	21	planning	planning	NOUN
bracis-28353	133	22	goal	goal	NOUN
bracis-28353	133	23	to	to	PART
bracis-28353	133	24	be	be	AUX
bracis-28353	133	25	satisfied	satisfied	ADJ
bracis-28353	133	26	.	.	PUNCT
bracis-28353	134	1	3.3	3.3	NUM
bracis-28353	134	2	the	the	DET
bracis-28353	134	3	temporal	temporal	ADJ
bracis-28353	134	4	logic	logic	NOUN
bracis-28353	134	5	\(\alpha	\(\alpha	X
bracis-28353	134	6	\)-ctl	\)-ctl	NOUN
bracis-28353	134	7	the	the	DET
bracis-28353	134	8	branching	branch	VERB
bracis-28353	134	9	time	time	NOUN
bracis-28353	134	10	temporal	temporal	ADJ
bracis-28353	134	11	logic	logic	NOUN
bracis-28353	134	12	\(\alpha	\(\alpha	X
bracis-28353	134	13	\)-ctl	\)-ctl	NOUN
bracis-28353	134	14	[	[	X
bracis-28353	134	15	21	21	NUM
bracis-28353	134	16	]	]	X
bracis-28353	134	17	is	be	AUX
bracis-28353	134	18	an	an	DET
bracis-28353	134	19	extension	extension	NOUN
bracis-28353	134	20	of	of	ADP
bracis-28353	134	21	ctl	ctl	PROPN
bracis-28353	134	22	logic	logic	NOUN
bracis-28353	134	23	able	able	ADJ
bracis-28353	134	24	to	to	PART
bracis-28353	134	25	consider	consider	VERB
bracis-28353	134	26	actions	action	NOUN
bracis-28353	134	27	by	by	ADP
bracis-28353	134	28	labeling	label	VERB
bracis-28353	134	29	state	state	NOUN
bracis-28353	134	30	transitions	transition	NOUN
bracis-28353	134	31	.	.	PUNCT
bracis-28353	135	1	with	with	ADP
bracis-28353	135	2	such	such	ADJ
bracis-28353	135	3	extension	extension	NOUN
bracis-28353	135	4	it	it	PRON
bracis-28353	135	5	is	be	AUX
bracis-28353	135	6	possible	possible	ADJ
bracis-28353	135	7	to	to	PART
bracis-28353	135	8	solve	solve	VERB
bracis-28353	135	9	fond	fond	ADJ
bracis-28353	135	10	planning	planning	NOUN
bracis-28353	135	11	problems	problem	NOUN
bracis-28353	135	12	without	without	ADP
bracis-28353	135	13	to	to	PART
bracis-28353	135	14	appeal	appeal	VERB
bracis-28353	135	15	to	to	ADP
bracis-28353	135	16	extra	extra	ADJ
bracis-28353	135	17	-	-	ADJ
bracis-28353	135	18	logical	logical	ADJ
bracis-28353	135	19	procedures	procedure	NOUN
bracis-28353	135	20	.	.	PUNCT
bracis-28353	136	1	in	in	ADP
bracis-28353	136	2	this	this	DET
bracis-28353	136	3	logic	logic	NOUN
bracis-28353	136	4	,	,	PUNCT
bracis-28353	136	5	temporal	temporal	ADJ
bracis-28353	136	6	operators	operator	NOUN
bracis-28353	136	7	are	be	AUX
bracis-28353	136	8	represented	represent	VERB
bracis-28353	136	9	by	by	ADP
bracis-28353	136	10	“	"	PUNCT
bracis-28353	136	11	dotted	dotted	ADJ
bracis-28353	136	12	”	"	PUNCT
bracis-28353	136	13	symbols	symbol	NOUN
bracis-28353	136	14	(	(	PUNCT
bracis-28353	136	15	definition	definition	NOUN
bracis-28353	136	16	8)	8)	NUM
bracis-28353	136	17	.	.	PUNCT
bracis-28353	137	1	the	the	DET
bracis-28353	137	2	formulae	formulae	NOUN
bracis-28353	137	3	of	of	ADP
bracis-28353	137	4	\(\alpha	\(\alpha	X
bracis-28353	137	5	\)-ctl	\)-ctl	NOUN
bracis-28353	137	6	are	be	AUX
bracis-28353	137	7	composed	compose	VERB
bracis-28353	137	8	by	by	ADP
bracis-28353	137	9	atomic	atomic	ADJ
bracis-28353	137	10	propositions	proposition	NOUN
bracis-28353	137	11	,	,	PUNCT
bracis-28353	137	12	logical	logical	ADJ
bracis-28353	137	13	connectives(\(\lnot	connectives(\(\lnot	NOUN
bracis-28353	137	14	,	,	PUNCT
bracis-28353	137	15	\	\	PROPN
bracis-28353	137	16	,	,	PUNCT
bracis-28353	137	17	\wedge	\wedge	PROPN
bracis-28353	137	18	\	\	PROPN
bracis-28353	137	19	,	,	PUNCT
bracis-28353	137	20	\vee	\vee	PROPN
bracis-28353	137	21	\,\	\,\	NOUN
bracis-28353	137	22	)	)	PUNCT
bracis-28353	137	23	)	)	PUNCT
bracis-28353	137	24	,	,	PUNCT
bracis-28353	137	25	path	path	NOUN
bracis-28353	137	26	quantifiers	quantifier	NOUN
bracis-28353	137	27	(	(	PUNCT
bracis-28353	137	28	\(\exists	\(\exist	NOUN
bracis-28353	137	29	\	\	NOUN
bracis-28353	137	30	)	)	PUNCT
bracis-28353	137	31	and	and	CCONJ
bracis-28353	137	32	\(\forall	\(\forall	ADV
bracis-28353	137	33	\	\	NOUN
bracis-28353	137	34	)	)	PUNCT
bracis-28353	137	35	)	)	PUNCT
bracis-28353	137	36	and	and	CCONJ
bracis-28353	137	37	temporal	temporal	ADJ
bracis-28353	137	38	operators	operator	NOUN
bracis-28353	137	39	:	:	PUNCT
bracis-28353	137	40	,	,	PUNCT
bracis-28353	137	41	,	,	PUNCT
bracis-28353	137	42	and	and	CCONJ
bracis-28353	137	43	.	.	PUNCT
bracis-28353	138	1	definition	definition	NOUN
bracis-28353	138	2	8	8	NUM
bracis-28353	138	3	(	(	PUNCT
bracis-28353	138	4	\(\alpha	\(\alpha	NOUN
bracis-28353	138	5	\	\	NOUN
bracis-28353	138	6	)	)	PUNCT
bracis-28353	138	7	-ctl	-ctl	PROPN
bracis-28353	138	8	’s	’s	PART
bracis-28353	138	9	syntax	syntax	NOUN
bracis-28353	138	10	)	)	PUNCT
bracis-28353	138	11	.	.	PUNCT
bracis-28353	139	1	let	let	VERB
bracis-28353	139	2	\(p	\(p	PROPN
bracis-28353	139	3	\in	\in	VERB
bracis-28353	139	4	\mathbb	\mathbb	PROPN
bracis-28353	139	5	{	{	PUNCT
bracis-28353	139	6	p}\	p}\	NOUN
bracis-28353	139	7	)	)	PUNCT
bracis-28353	139	8	be	be	AUX
bracis-28353	139	9	an	an	DET
bracis-28353	139	10	atomic	atomic	ADJ
bracis-28353	139	11	proposition	proposition	NOUN
bracis-28353	139	12	.	.	PUNCT
bracis-28353	140	1	the	the	DET
bracis-28353	140	2	syntax	syntax	NOUN
bracis-28353	140	3	of	of	ADP
bracis-28353	140	4	\(\alpha	\(\alpha	X
bracis-28353	140	5	\)-ctl	\)-ctl	NOUN
bracis-28353	140	6	[	[	X
bracis-28353	140	7	21	21	NUM
bracis-28353	140	8	]	]	X
bracis-28353	140	9	is	be	AUX
bracis-28353	140	10	inductively	inductively	ADV
bracis-28353	140	11	defined	define	VERB
bracis-28353	140	12	as	as	ADP
bracis-28353	140	13	:	:	PUNCT
bracis-28353	140	14	the	the	DET
bracis-28353	140	15	temporal	temporal	ADJ
bracis-28353	140	16	operators	operator	NOUN
bracis-28353	140	17	derived	derive	VERB
bracis-28353	140	18	from	from	ADP
bracis-28353	140	19	are	be	AUX
bracis-28353	140	20	and	and	CCONJ
bracis-28353	140	21	.	.	PUNCT
bracis-28353	141	1	in	in	ADP
bracis-28353	141	2	\(\alpha	\(\alpha	PROPN
bracis-28353	141	3	\)-ctl	\)-ctl	PROPN
bracis-28353	141	4	,	,	PUNCT
bracis-28353	141	5	the	the	DET
bracis-28353	141	6	temporal	temporal	ADJ
bracis-28353	141	7	model	model	NOUN
bracis-28353	141	8	\(\mathcal	\(\mathcal	X
bracis-28353	141	9	{	{	PUNCT
bracis-28353	141	10	m}\	m}\	PROPN
bracis-28353	141	11	)	)	PUNCT
bracis-28353	141	12	with	with	ADP
bracis-28353	141	13	signature	signature	NOUN
bracis-28353	141	14	(	(	PUNCT
bracis-28353	141	15	\(\mathbb	\(\mathbb	X
bracis-28353	141	16	{	{	PUNCT
bracis-28353	141	17	p},\mathbb	p},\mathbb	X
bracis-28353	141	18	{	{	PUNCT
bracis-28353	141	19	a}\	a}\	NUM
bracis-28353	141	20	)	)	PUNCT
bracis-28353	141	21	)	)	PUNCT
bracis-28353	141	22	is	be	AUX
bracis-28353	141	23	labeled	label	VERB
bracis-28353	141	24	transition	transition	NOUN
bracis-28353	141	25	system	system	NOUN
bracis-28353	141	26	,	,	PUNCT
bracis-28353	141	27	i.e.	i.e.	X
bracis-28353	141	28	,	,	PUNCT
bracis-28353	141	29	a	a	DET
bracis-28353	141	30	states	state	NOUN
bracis-28353	141	31	transition	transition	NOUN
bracis-28353	141	32	system	system	NOUN
bracis-28353	141	33	whose	whose	DET
bracis-28353	141	34	states	state	NOUN
bracis-28353	141	35	are	be	AUX
bracis-28353	141	36	labeled	label	VERB
bracis-28353	141	37	by	by	ADP
bracis-28353	141	38	propositions	proposition	NOUN
bracis-28353	141	39	and	and	CCONJ
bracis-28353	141	40	whose	whose	DET
bracis-28353	141	41	the	the	DET
bracis-28353	141	42	transitions	transition	NOUN
bracis-28353	141	43	are	be	AUX
bracis-28353	141	44	labeled	label	VERB
bracis-28353	141	45	by	by	ADP
bracis-28353	141	46	actions	action	NOUN
bracis-28353	141	47	(	(	PUNCT
bracis-28353	141	48	definition	definition	NOUN
bracis-28353	141	49	9	9	NUM
bracis-28353	141	50	):	):	PUNCT
bracis-28353	141	51	definition	definition	NOUN
bracis-28353	141	52	9	9	NUM
bracis-28353	141	53	(	(	PUNCT
bracis-28353	141	54	\(\alpha	\(\alpha	NOUN
bracis-28353	141	55	\	\	NOUN
bracis-28353	141	56	)	)	PUNCT
bracis-28353	141	57	-ctl	-ctl	PROPN
bracis-28353	141	58	’s	’s	PART
bracis-28353	141	59	model	model	NOUN
bracis-28353	141	60	)	)	PUNCT
bracis-28353	141	61	.	.	PUNCT
bracis-28353	142	1	a	a	DET
bracis-28353	142	2	temporal	temporal	ADJ
bracis-28353	142	3	model	model	NOUN
bracis-28353	142	4	\(\mathcal	\(\mathcal	ADJ
bracis-28353	142	5	{	{	PUNCT
bracis-28353	142	6	m}\	m}\	PROPN
bracis-28353	142	7	)	)	PUNCT
bracis-28353	142	8	with	with	ADP
bracis-28353	142	9	signature	signature	NOUN
bracis-28353	142	10	(	(	PUNCT
bracis-28353	142	11	\(\mathbb	\(\mathbb	X
bracis-28353	142	12	{	{	PUNCT
bracis-28353	142	13	p},\mathbb	p},\mathbb	X
bracis-28353	142	14	{	{	PUNCT
bracis-28353	142	15	a}\	a}\	NUM
bracis-28353	142	16	)	)	PUNCT
bracis-28353	142	17	)	)	PUNCT
bracis-28353	142	18	in	in	ADP
bracis-28353	142	19	the	the	DET
bracis-28353	142	20	logic	logic	NOUN
bracis-28353	142	21	\(\alpha	\(\alpha	X
bracis-28353	142	22	\)-ctl	\)-ctl	NOUN
bracis-28353	142	23	is	be	AUX
bracis-28353	142	24	state	state	NOUN
bracis-28353	142	25	transition	transition	NOUN
bracis-28353	142	26	system	system	NOUN
bracis-28353	142	27	\(\mathcal	\(\mathcal	ADJ
bracis-28353	142	28	{	{	PUNCT
bracis-28353	142	29	d	d	NOUN
bracis-28353	142	30	}	}	PUNCT
bracis-28353	142	31	=	=	PUNCT
bracis-28353	142	32	\langle	\langle	PROPN
bracis-28353	142	33	s	s	PROPN
bracis-28353	142	34	,	,	PUNCT
bracis-28353	142	35	l	l	PROPN
bracis-28353	142	36	,	,	PUNCT
bracis-28353	142	37	t	t	PROPN
bracis-28353	142	38	\rangle	\rangle	PROPN
bracis-28353	142	39	\	\	PROPN
bracis-28353	142	40	)	)	PUNCT
bracis-28353	142	41	,	,	PUNCT
bracis-28353	142	42	where	where	SCONJ
bracis-28353	142	43	:	:	PUNCT
bracis-28353	142	44	s	s	X
bracis-28353	142	45	 	 	SPACE
bracis-28353	142	46	:	:	PUNCT
bracis-28353	142	47	  	  	SPACE
bracis-28353	142	48	is	be	AUX
bracis-28353	142	49	a	a	DET
bracis-28353	142	50	non	non	ADJ
bracis-28353	142	51	-	-	ADJ
bracis-28353	142	52	empty	empty	ADJ
bracis-28353	142	53	finite	finite	NOUN
bracis-28353	142	54	set	set	NOUN
bracis-28353	142	55	of	of	ADP
bracis-28353	142	56	states	state	NOUN
bracis-28353	142	57	;	;	PUNCT
bracis-28353	142	58	l	l	NOUN
bracis-28353	142	59	 	 	SPACE
bracis-28353	142	60	:	:	PUNCT
bracis-28353	142	61	 	 	SPACE
bracis-28353	142	62	s	s	PART
bracis-28353	142	63	\(\rightarrow	\(\rightarrow	NOUN
bracis-28353	142	64	2^{\mathbb	2^{\mathbb	NUM
bracis-28353	142	65	{	{	PUNCT
bracis-28353	142	66	p}}\	p}}\	NOUN
bracis-28353	142	67	)	)	PUNCT
bracis-28353	142	68	is	be	AUX
bracis-28353	142	69	a	a	DET
bracis-28353	142	70	state	state	NOUN
bracis-28353	142	71	labeling	labeling	NOUN
bracis-28353	142	72	function	function	NOUN
bracis-28353	142	73	;	;	PUNCT
bracis-28353	142	74	\(t	\(t	NOUN
bracis-28353	142	75	:	:	PUNCT
bracis-28353	142	76	s	s	AUX
bracis-28353	142	77	\,\times	\,\time	NOUN
bracis-28353	142	78	\,\mathbb	\,\mathbb	PROPN
bracis-28353	142	79	{	{	PUNCT
bracis-28353	142	80	a	a	PRON
bracis-28353	142	81	}	}	PUNCT
bracis-28353	142	82	\rightarrow	\rightarrow	PROPN
bracis-28353	142	83	2^{s}\	2^{s}\	NUM
bracis-28353	142	84	)	)	PUNCT
bracis-28353	142	85	is	be	AUX
bracis-28353	142	86	states	state	NOUN
bracis-28353	142	87	transition	transition	NOUN
bracis-28353	142	88	function	function	NOUN
bracis-28353	142	89	labeling	labeling	NOUN
bracis-28353	142	90	by	by	ADP
bracis-28353	142	91	actions	action	NOUN
bracis-28353	142	92	.	.	PUNCT
bracis-28353	143	1	the	the	DET
bracis-28353	143	2	semantics	semantic	NOUN
bracis-28353	143	3	of	of	ADP
bracis-28353	143	4	the	the	DET
bracis-28353	143	5	local	local	ADJ
bracis-28353	143	6	temporal	temporal	ADJ
bracis-28353	143	7	operators	operator	NOUN
bracis-28353	143	8	(	(	PUNCT
bracis-28353	143	9	and	and	CCONJ
bracis-28353	143	10	)	)	PUNCT
bracis-28353	143	11	is	be	AUX
bracis-28353	143	12	given	give	VERB
bracis-28353	143	13	by	by	ADP
bracis-28353	143	14	preimage	preimage	NOUN
bracis-28353	143	15	functions	function	NOUN
bracis-28353	143	16	,	,	PUNCT
bracis-28353	143	17	while	while	SCONJ
bracis-28353	143	18	the	the	DET
bracis-28353	143	19	semantics	semantic	NOUN
bracis-28353	143	20	of	of	ADP
bracis-28353	143	21	the	the	DET
bracis-28353	143	22	global	global	ADJ
bracis-28353	143	23	temporal	temporal	ADJ
bracis-28353	143	24	operators	operator	NOUN
bracis-28353	143	25	(	(	PUNCT
bracis-28353	143	26	,	,	PUNCT
bracis-28353	143	27	,	,	PUNCT
bracis-28353	143	28	)	)	PUNCT
bracis-28353	143	29	is	be	AUX
bracis-28353	143	30	derived	derive	VERB
bracis-28353	143	31	from	from	ADP
bracis-28353	143	32	the	the	DET
bracis-28353	143	33	semantics	semantic	NOUN
bracis-28353	143	34	of	of	ADP
bracis-28353	143	35	the	the	DET
bracis-28353	143	36	local	local	ADJ
bracis-28353	143	37	temporal	temporal	ADJ
bracis-28353	143	38	operators	operator	NOUN
bracis-28353	143	39	,	,	PUNCT
bracis-28353	143	40	by	by	ADP
bracis-28353	143	41	using	use	VERB
bracis-28353	143	42	least	least	ADJ
bracis-28353	143	43	(	(	PUNCT
bracis-28353	143	44	\(\nu	\(\nu	PROPN
bracis-28353	143	45	\	\	PROPN
bracis-28353	143	46	)	)	PUNCT
bracis-28353	143	47	)	)	PUNCT
bracis-28353	143	48	and	and	CCONJ
bracis-28353	143	49	greatest	great	ADJ
bracis-28353	143	50	(	(	PUNCT
bracis-28353	143	51	\(\mu	\(\mu	PROPN
bracis-28353	143	52	\	\	PROPN
bracis-28353	143	53	)	)	PUNCT
bracis-28353	143	54	)	)	PUNCT
bracis-28353	143	55	fixpoint	fixpoint	NOUN
bracis-28353	143	56	operations	operation	NOUN
bracis-28353	143	57	.	.	PUNCT
bracis-28353	144	1	definition	definition	NOUN
bracis-28353	144	2	10	10	NUM
bracis-28353	144	3	(	(	PUNCT
bracis-28353	144	4	weak	weak	ADJ
bracis-28353	144	5	preimage	preimage	NOUN
bracis-28353	144	6	in	in	ADP
bracis-28353	144	7	\(\alpha	\(\alpha	X
bracis-28353	144	8	\	\	NOUN
bracis-28353	144	9	)	)	PUNCT
bracis-28353	144	10	-ctl	-ctl	ADJ
bracis-28353	144	11	formula	formula	NOUN
bracis-28353	144	12	)	)	PUNCT
bracis-28353	144	13	.	.	PUNCT
bracis-28353	145	1	let	let	VERB
bracis-28353	145	2	\(y	\(y	PRON
bracis-28353	145	3	\subseteq	\subseteq	PROPN
bracis-28353	145	4	s	s	PART
bracis-28353	145	5	\	\	NOUN
bracis-28353	145	6	)	)	PUNCT
bracis-28353	145	7	be	be	AUX
bracis-28353	145	8	a	a	DET
bracis-28353	145	9	set	set	NOUN
bracis-28353	145	10	of	of	ADP
bracis-28353	145	11	states	state	NOUN
bracis-28353	145	12	.	.	PUNCT
bracis-28353	146	1	the	the	DET
bracis-28353	146	2	weak	weak	ADJ
bracis-28353	146	3	preimage	preimage	NOUN
bracis-28353	146	4	of	of	ADP
bracis-28353	146	5	y	y	PROPN
bracis-28353	146	6	,	,	PUNCT
bracis-28353	146	7	denoted	denote	VERB
bracis-28353	146	8	by	by	ADP
bracis-28353	146	9	\(\mathcal	\(\mathcal	ADJ
bracis-28353	146	10	{	{	PUNCT
bracis-28353	146	11	t}^{-}_\exists	t}^{-}_\exist	NOUN
bracis-28353	146	12	(	(	PUNCT
bracis-28353	146	13	y)\	y)\	X
bracis-28353	146	14	)	)	PUNCT
bracis-28353	146	15	is	be	AUX
bracis-28353	146	16	the	the	DET
bracis-28353	146	17	set	set	NOUN
bracis-28353	146	18	.	.	PUNCT
bracis-28353	147	1	definition	definition	NOUN
bracis-28353	147	2	11	11	NUM
bracis-28353	147	3	(	(	PUNCT
bracis-28353	147	4	strong	strong	ADJ
bracis-28353	147	5	preimage	preimage	NOUN
bracis-28353	147	6	in	in	ADP
bracis-28353	147	7	\(\alpha	\(\alpha	X
bracis-28353	147	8	\	\	NOUN
bracis-28353	147	9	)	)	PUNCT
bracis-28353	147	10	-ctl	-ctl	ADJ
bracis-28353	147	11	formula	formula	NOUN
bracis-28353	147	12	)	)	PUNCT
bracis-28353	147	13	.	.	PUNCT
bracis-28353	148	1	let	let	VERB
bracis-28353	148	2	\(y	\(y	PRON
bracis-28353	148	3	\subseteq	\subseteq	PROPN
bracis-28353	148	4	s	s	PART
bracis-28353	148	5	\	\	NOUN
bracis-28353	148	6	)	)	PUNCT
bracis-28353	148	7	be	be	AUX
bracis-28353	148	8	a	a	DET
bracis-28353	148	9	set	set	NOUN
bracis-28353	148	10	of	of	ADP
bracis-28353	148	11	states	state	NOUN
bracis-28353	148	12	.	.	PUNCT
bracis-28353	149	1	the	the	DET
bracis-28353	149	2	weak	weak	ADJ
bracis-28353	149	3	preimage	preimage	NOUN
bracis-28353	149	4	of	of	ADP
bracis-28353	149	5	y	y	PROPN
bracis-28353	149	6	,	,	PUNCT
bracis-28353	149	7	denoted	denote	VERB
bracis-28353	149	8	by	by	ADP
bracis-28353	149	9	\(\mathcal	\(\mathcal	ADJ
bracis-28353	149	10	{	{	PUNCT
bracis-28353	149	11	t}^{-}_\forall	t}^{-}_\forall	X
bracis-28353	149	12	(	(	PUNCT
bracis-28353	149	13	y)\	y)\	NOUN
bracis-28353	149	14	)	)	PUNCT
bracis-28353	149	15	is	be	AUX
bracis-28353	149	16	the	the	DET
bracis-28353	149	17	set	set	NOUN
bracis-28353	149	18	.	.	PUNCT
bracis-28353	150	1	definition	definition	NOUN
bracis-28353	150	2	12	12	NUM
bracis-28353	150	3	(	(	PUNCT
bracis-28353	150	4	intension	intension	NOUN
bracis-28353	150	5	of	of	ADP
bracis-28353	150	6	an	an	DET
bracis-28353	150	7	\(\alpha	\(\alpha	ADJ
bracis-28353	150	8	\	\	NOUN
bracis-28353	150	9	)	)	PUNCT
bracis-28353	150	10	-ctl	-ctl	ADJ
bracis-28353	150	11	formula	formula	NOUN
bracis-28353	150	12	)	)	PUNCT
bracis-28353	150	13	.	.	PUNCT
bracis-28353	151	1	let	let	VERB
bracis-28353	151	2	\(\mathcal	\(\mathcal	ADJ
bracis-28353	151	3	{	{	PUNCT
bracis-28353	151	4	d	d	NOUN
bracis-28353	151	5	}	}	PUNCT
bracis-28353	151	6	=	=	PUNCT
bracis-28353	151	7	\langle	\langle	PROPN
bracis-28353	151	8	s	s	PROPN
bracis-28353	151	9	,	,	PUNCT
bracis-28353	151	10	l	l	NOUN
bracis-28353	151	11	,	,	PUNCT
bracis-28353	151	12	t\rangle	t\rangle	NOUN
bracis-28353	151	13	\	\	NOUN
bracis-28353	151	14	)	)	PUNCT
bracis-28353	151	15	be	be	AUX
bracis-28353	151	16	a	a	DET
bracis-28353	151	17	temporal	temporal	ADJ
bracis-28353	151	18	model	model	NOUN
bracis-28353	151	19	(	(	PUNCT
bracis-28353	151	20	or	or	CCONJ
bracis-28353	151	21	a	a	DET
bracis-28353	151	22	non	non	ADJ
bracis-28353	151	23	-	-	ADJ
bracis-28353	151	24	deterministic	deterministic	ADJ
bracis-28353	151	25	planning	planning	NOUN
bracis-28353	151	26	domain	domain	NOUN
bracis-28353	151	27	)	)	PUNCT
bracis-28353	151	28	with	with	ADP
bracis-28353	151	29	signature	signature	NOUN
bracis-28353	151	30	(	(	PUNCT
bracis-28353	151	31	\(\mathbb	\(\mathbb	X
bracis-28353	151	32	{	{	PUNCT
bracis-28353	151	33	p	p	X
bracis-28353	151	34	}	}	PUNCT
bracis-28353	151	35	,	,	PUNCT
bracis-28353	151	36	\mathbb	\mathbb	PROPN
bracis-28353	151	37	{	{	PUNCT
bracis-28353	151	38	a}\	a}\	NUM
bracis-28353	151	39	)	)	PUNCT
bracis-28353	151	40	)	)	PUNCT
bracis-28353	151	41	.	.	PUNCT
bracis-28353	152	1	the	the	DET
bracis-28353	152	2	intension	intension	NOUN
bracis-28353	152	3	of	of	ADP
bracis-28353	152	4	an	an	DET
bracis-28353	152	5	\(\alpha	\(\alpha	ADJ
bracis-28353	152	6	\)-ctl	\)-ctl	NOUN
bracis-28353	152	7	formula	formula	NOUN
bracis-28353	152	8	\(\varphi	\(\varphi	ADJ
bracis-28353	152	9	\	\	NOUN
bracis-28353	152	10	)	)	PUNCT
bracis-28353	152	11	in	in	ADP
bracis-28353	152	12	\(\mathcal	\(\mathcal	ADJ
bracis-28353	152	13	{	{	PUNCT
bracis-28353	152	14	d}\	d}\	PROPN
bracis-28353	152	15	)	)	PUNCT
bracis-28353	152	16	(	(	PUNCT
bracis-28353	152	17	or	or	CCONJ
bracis-28353	152	18	the	the	DET
bracis-28353	152	19	set	set	NOUN
bracis-28353	152	20	of	of	ADP
bracis-28353	152	21	states	state	NOUN
bracis-28353	152	22	satisfying	satisfy	VERB
bracis-28353	152	23	\(\varphi	\(\varphi	PUNCT
bracis-28353	152	24	\	\	NOUN
bracis-28353	152	25	)	)	PUNCT
bracis-28353	152	26	in	in	ADP
bracis-28353	152	27	\(\mathcal	\(\mathcal	ADJ
bracis-28353	152	28	{	{	PUNCT
bracis-28353	152	29	d}\	d}\	PROPN
bracis-28353	152	30	)	)	PUNCT
bracis-28353	152	31	)	)	PUNCT
bracis-28353	152	32	,	,	PUNCT
bracis-28353	152	33	denoted	denote	VERB
bracis-28353	152	34	by	by	ADP
bracis-28353	152	35	\(\llbracket	\(\llbracket	NOUN
bracis-28353	152	36	\varphi	\varphi	PROPN
bracis-28353	152	37	\rrbracket	\rrbracket	PROPN
bracis-28353	152	38	{	{	PUNCT
bracis-28353	152	39	\mathcal	\mathcal	ADJ
bracis-28353	152	40	{	{	PUNCT
bracis-28353	152	41	d}}\	d}}\	PROPN
bracis-28353	152	42	)	)	PUNCT
bracis-28353	152	43	,	,	PUNCT
bracis-28353	152	44	is	be	AUX
bracis-28353	152	45	defined	define	VERB
bracis-28353	152	46	as	as	ADP
bracis-28353	152	47	:	:	PUNCT
bracis-28353	152	48	\(\llbracket	\(\llbracket	NOUN
bracis-28353	152	49	p	p	X
bracis-28353	152	50	\rrbracket	\rrbracket	PROPN
bracis-28353	152	51	_	_	PRON
bracis-28353	152	52	{	{	PUNCT
bracis-28353	152	53	\mathcal	\mathcal	ADJ
bracis-28353	152	54	{	{	PUNCT
bracis-28353	152	55	d	d	NOUN
bracis-28353	152	56	}	}	PUNCT
bracis-28353	152	57	}	}	PUNCT
bracis-28353	152	58	=	=	SYM
bracis-28353	152	59	\	\	NOUN
bracis-28353	152	60	{	{	PUNCT
bracis-28353	152	61	s	s	PROPN
bracis-28353	152	62	\	\	PROPN
bracis-28353	152	63	,	,	PUNCT
bracis-28353	152	64	:	:	PUNCT
bracis-28353	153	1	\	\	PROPN
bracis-28353	153	2	,	,	PUNCT
bracis-28353	153	3	p	p	PROPN
bracis-28353	153	4	\	\	PROPN
bracis-28353	153	5	,	,	PUNCT
bracis-28353	153	6	\in	\in	PROPN
bracis-28353	153	7	\	\	PROPN
bracis-28353	153	8	,	,	PUNCT
bracis-28353	153	9	l(s)\}(by	l(s)\}(by	NOUN
bracis-28353	153	10	\	\	PROPN
bracis-28353	153	11	,	,	PUNCT
bracis-28353	153	12	definition	definition	NOUN
bracis-28353	153	13	,	,	PUNCT
bracis-28353	153	14	\llbracket	\llbracket	PROPN
bracis-28353	153	15	\top	\top	NOUN
bracis-28353	153	16	\rrbracket	\rrbracket	VERB
bracis-28353	153	17	_	_	PRON
bracis-28353	153	18	{	{	PUNCT
bracis-28353	153	19	\mathcal	\mathcal	ADJ
bracis-28353	153	20	{	{	PUNCT
bracis-28353	153	21	d	d	NOUN
bracis-28353	153	22	}	}	PUNCT
bracis-28353	153	23	}	}	PUNCT
bracis-28353	153	24	=	=	SYM
bracis-28353	153	25	s	s	PART
bracis-28353	153	26	\	\	NOUN
bracis-28353	153	27	,	,	PUNCT
bracis-28353	153	28	and	and	CCONJ
bracis-28353	153	29	\	\	PROPN
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bracis-28353	153	31	\llbracket	\llbracket	PROPN
bracis-28353	153	32	\bot	\bot	PROPN
bracis-28353	154	1	\rrbracket	\rrbracket	VERB
bracis-28353	154	2	_	_	PRON
bracis-28353	154	3	{	{	PUNCT
bracis-28353	154	4	\mathcal	\mathcal	ADJ
bracis-28353	154	5	{	{	PUNCT
bracis-28353	154	6	d	d	NOUN
bracis-28353	154	7	}	}	PUNCT
bracis-28353	154	8	}	}	PUNCT
bracis-28353	154	9	=	=	SYM
bracis-28353	154	10	\emptyset	\emptyset	ADJ
bracis-28353	154	11	)	)	PUNCT
bracis-28353	154	12	\	\	ADJ
bracis-28353	154	13	)	)	PUNCT
bracis-28353	154	14	\(\llbracket	\(\llbracket	NOUN
bracis-28353	155	1	\lnot	\lnot	INTJ
bracis-28353	156	1	p	p	X
bracis-28353	156	2	\rrbracket	\rrbracket	VERB
bracis-28353	156	3	_	_	PRON
bracis-28353	156	4	{	{	PUNCT
bracis-28353	156	5	\mathcal	\mathcal	ADJ
bracis-28353	156	6	{	{	PUNCT
bracis-28353	156	7	d	d	NOUN
bracis-28353	156	8	}	}	PUNCT
bracis-28353	156	9	}	}	PUNCT
bracis-28353	156	10	=	=	SYM
bracis-28353	156	11	s	s	PART
bracis-28353	156	12	\smallsetminus	\smallsetminus	NOUN
bracis-28353	157	1	\llbracket	\llbracket	PROPN
bracis-28353	157	2	p	p	X
bracis-28353	157	3	\rrbracket	\rrbracket	PROPN
bracis-28353	157	4	_	_	PRON
bracis-28353	157	5	{	{	PUNCT
bracis-28353	157	6	\mathcal	\mathcal	ADJ
bracis-28353	157	7	{	{	PUNCT
bracis-28353	157	8	d	d	NOUN
bracis-28353	157	9	}	}	PUNCT
bracis-28353	157	10	}	}	PUNCT
bracis-28353	157	11	\	\	ADJ
bracis-28353	157	12	)	)	PUNCT
bracis-28353	157	13	\(\llbracket	\(\llbracket	NOUN
bracis-28353	157	14	\varphi	\varphi	PROPN
bracis-28353	157	15	_	_	PROPN
bracis-28353	157	16	1	1	NUM
bracis-28353	157	17	\wedge	\wedge	PROPN
bracis-28353	157	18	\varphi	\varphi	PROPN
bracis-28353	157	19	_	_	NOUN
bracis-28353	157	20	2	2	NUM
bracis-28353	157	21	\rrbracket	\rrbracket	NOUN
bracis-28353	157	22	_	_	PRON
bracis-28353	157	23	{	{	PUNCT
bracis-28353	157	24	\mathcal	\mathcal	ADJ
bracis-28353	157	25	{	{	PUNCT
bracis-28353	157	26	d	d	NOUN
bracis-28353	157	27	}	}	PUNCT
bracis-28353	157	28	}	}	PUNCT
bracis-28353	157	29	=	=	SYM
bracis-28353	157	30	\llbracket	\llbracket	PROPN
bracis-28353	157	31	\varphi	\varphi	PROPN
bracis-28353	157	32	_	_	NOUN
bracis-28353	157	33	1	1	NUM
bracis-28353	157	34	\rrbracket	\rrbracket	VERB
bracis-28353	157	35	_	_	PRON
bracis-28353	157	36	{	{	PUNCT
bracis-28353	157	37	\mathcal	\mathcal	ADJ
bracis-28353	157	38	{	{	PUNCT
bracis-28353	157	39	d	d	NOUN
bracis-28353	157	40	}	}	PUNCT
bracis-28353	157	41	}	}	PUNCT
bracis-28353	157	42	\cap	\cap	NOUN
bracis-28353	157	43	\llbracket	\llbracket	PROPN
bracis-28353	157	44	\varphi	\varphi	PROPN
bracis-28353	157	45	_	_	NOUN
bracis-28353	157	46	2	2	NUM
bracis-28353	157	47	\rrbracket	\rrbracket	NOUN
bracis-28353	157	48	_	_	PRON
bracis-28353	157	49	{	{	PUNCT
bracis-28353	157	50	\mathcal	\mathcal	ADJ
bracis-28353	157	51	{	{	PUNCT
bracis-28353	157	52	d}}\	d}}\	PROPN
bracis-28353	157	53	)	)	PUNCT
bracis-28353	157	54	\(\llbracket	\(\llbracket	NOUN
bracis-28353	157	55	\varphi	\varphi	PROPN
bracis-28353	157	56	_	_	PROPN
bracis-28353	157	57	1	1	NUM
bracis-28353	157	58	\vee	\vee	NOUN
bracis-28353	157	59	\varphi	\varphi	PROPN
bracis-28353	157	60	_	_	NOUN
bracis-28353	157	61	2	2	NUM
bracis-28353	157	62	\rrbracket	\rrbracket	NOUN
bracis-28353	157	63	_	_	PRON
bracis-28353	157	64	{	{	PUNCT
bracis-28353	157	65	\mathcal	\mathcal	ADJ
bracis-28353	157	66	{	{	PUNCT
bracis-28353	157	67	d	d	NOUN
bracis-28353	157	68	}	}	PUNCT
bracis-28353	157	69	}	}	PUNCT
bracis-28353	157	70	=	=	SYM
bracis-28353	157	71	\llbracket	\llbracket	PROPN
bracis-28353	157	72	\varphi	\varphi	PROPN
bracis-28353	157	73	_	_	NOUN
bracis-28353	157	74	1	1	NUM
bracis-28353	157	75	\rrbracket	\rrbracket	VERB
bracis-28353	157	76	_	_	PRON
bracis-28353	157	77	{	{	PUNCT
bracis-28353	157	78	\mathcal	\mathcal	ADJ
bracis-28353	157	79	{	{	PUNCT
bracis-28353	157	80	d	d	NOUN
bracis-28353	157	81	}	}	PUNCT
bracis-28353	157	82	}	}	PUNCT
bracis-28353	157	83	\cup	\cup	VERB
bracis-28353	157	84	\llbracket	\llbracket	PROPN
bracis-28353	157	85	\varphi	\varphi	PROPN
bracis-28353	157	86	_	_	NOUN
bracis-28353	157	87	2	2	NUM
bracis-28353	157	88	\rrbracket	\rrbracket	NOUN
bracis-28353	157	89	_	_	PRON
bracis-28353	157	90	{	{	PUNCT
bracis-28353	157	91	\mathcal	\mathcal	ADJ
bracis-28353	157	92	{	{	PUNCT
bracis-28353	157	93	d}}\	d}}\	PROPN
bracis-28353	157	94	)	)	PUNCT
bracis-28353	157	95	figure	figure	NOUN
bracis-28353	157	96	 	 	SPACE
bracis-28353	157	97	2	2	NUM
bracis-28353	157	98	shows	show	VERB
bracis-28353	157	99	the	the	DET
bracis-28353	157	100	semantics	semantic	NOUN
bracis-28353	157	101	of	of	ADP
bracis-28353	157	102	operators	operator	NOUN
bracis-28353	157	103	used	use	VERB
bracis-28353	157	104	in	in	ADP
bracis-28353	157	105	this	this	DET
bracis-28353	157	106	work	work	NOUN
bracis-28353	157	107	:	:	PUNCT
bracis-28353	157	108	(	(	PUNCT
bracis-28353	157	109	a	a	X
bracis-28353	157	110	)	)	PUNCT
bracis-28353	157	111	considering	consider	VERB
bracis-28353	157	112	each	each	DET
bracis-28353	157	113	effect	effect	NOUN
bracis-28353	157	114	of	of	ADP
bracis-28353	157	115	action	action	NOUN
bracis-28353	157	116	a	a	DET
bracis-28353	157	117	when	when	SCONJ
bracis-28353	157	118	applied	apply	VERB
bracis-28353	157	119	in	in	ADP
bracis-28353	157	120	\(s_0\	\(s_0\	PROPN
bracis-28353	157	121	)	)	PUNCT
bracis-28353	157	122	,	,	PUNCT
bracis-28353	157	123	p	p	PROPN
bracis-28353	157	124	is	be	AUX
bracis-28353	157	125	globally	globally	ADV
bracis-28353	157	126	true	true	ADJ
bracis-28353	157	127	;	;	PUNCT
bracis-28353	157	128	(	(	PUNCT
bracis-28353	157	129	b	b	X
bracis-28353	157	130	)	)	PUNCT
bracis-28353	157	131	considering	consider	VERB
bracis-28353	157	132	each	each	DET
bracis-28353	157	133	effect	effect	NOUN
bracis-28353	157	134	of	of	ADP
bracis-28353	157	135	action	action	NOUN
bracis-28353	157	136	a	a	DET
bracis-28353	157	137	when	when	SCONJ
bracis-28353	157	138	applied	apply	VERB
bracis-28353	157	139	in	in	ADP
bracis-28353	157	140	\(s_0\	\(s_0\	PROPN
bracis-28353	157	141	)	)	PUNCT
bracis-28353	157	142	,	,	PUNCT
bracis-28353	157	143	p	p	NOUN
bracis-28353	157	144	is	be	AUX
bracis-28353	157	145	true	true	ADJ
bracis-28353	157	146	until	until	SCONJ
bracis-28353	157	147	q	q	NOUN
bracis-28353	157	148	is	be	AUX
bracis-28353	157	149	true	true	ADJ
bracis-28353	157	150	and	and	CCONJ
bracis-28353	157	151	;	;	PUNCT
bracis-28353	157	152	(	(	PUNCT
bracis-28353	157	153	c	c	X
bracis-28353	157	154	)	)	PUNCT
bracis-28353	157	155	considering	consider	VERB
bracis-28353	157	156	some	some	DET
bracis-28353	157	157	effect	effect	NOUN
bracis-28353	157	158	of	of	ADP
bracis-28353	157	159	action	action	NOUN
bracis-28353	157	160	a	a	PRON
bracis-28353	157	161	when	when	SCONJ
bracis-28353	157	162	applied	apply	VERB
bracis-28353	157	163	in	in	ADP
bracis-28353	157	164	\(s_0\	\(s_0\	PROPN
bracis-28353	157	165	)	)	PUNCT
bracis-28353	157	166	,	,	PUNCT
bracis-28353	157	167	p	p	NOUN
bracis-28353	157	168	is	be	AUX
bracis-28353	157	169	true	true	ADJ
bracis-28353	157	170	until	until	SCONJ
bracis-28353	157	171	q	q	NOUN
bracis-28353	157	172	is	be	AUX
bracis-28353	157	173	true	true	ADJ
bracis-28353	157	174	.	.	PUNCT
bracis-28353	158	1	fig	fig	NOUN
bracis-28353	158	2	.	.	PUNCT
bracis-28353	159	1	2	2	X
bracis-28353	159	2	.	.	X
bracis-28353	159	3	semantics	semantic	NOUN
bracis-28353	159	4	of	of	ADP
bracis-28353	159	5	the	the	DET
bracis-28353	159	6	temporal	temporal	ADJ
bracis-28353	159	7	operators	operator	NOUN
bracis-28353	159	8	of	of	ADP
bracis-28353	159	9	the	the	DET
bracis-28353	159	10	logic	logic	NOUN
bracis-28353	159	11	\(\alpha	\(\alpha	PART
bracis-28353	159	12	\)-clt	\)-clt	PROPN
bracis-28353	159	13	.	.	PUNCT
bracis-28353	160	1	full	full	ADJ
bracis-28353	160	2	size	size	NOUN
bracis-28353	160	3	image	image	NOUN
bracis-28353	160	4	3.4	3.4	NUM
bracis-28353	160	5	reasoning	reasoning	NOUN
bracis-28353	160	6	about	about	ADP
bracis-28353	160	7	non	non	ADJ
bracis-28353	160	8	-	-	ADJ
bracis-28353	160	9	deterministic	deterministic	ADJ
bracis-28353	160	10	actions	action	NOUN
bracis-28353	160	11	the	the	DET
bracis-28353	160	12	representation	representation	NOUN
bracis-28353	160	13	of	of	ADP
bracis-28353	160	14	a	a	DET
bracis-28353	160	15	planning	planning	NOUN
bracis-28353	160	16	domains	domain	NOUN
bracis-28353	160	17	through	through	ADP
bracis-28353	160	18	of	of	ADP
bracis-28353	160	19	a	a	DET
bracis-28353	160	20	action	action	NOUN
bracis-28353	160	21	language	language	NOUN
bracis-28353	160	22	,	,	PUNCT
bracis-28353	160	23	e.g.	e.g.	ADV
bracis-28353	160	24	pddl	pddl	NOUN
bracis-28353	160	25	,	,	PUNCT
bracis-28353	160	26	allow	allow	VERB
bracis-28353	160	27	a	a	DET
bracis-28353	160	28	compact	compact	ADJ
bracis-28353	160	29	representation	representation	NOUN
bracis-28353	160	30	of	of	ADP
bracis-28353	160	31	the	the	DET
bracis-28353	160	32	state	state	NOUN
bracis-28353	160	33	space	space	NOUN
bracis-28353	160	34	.	.	PUNCT
bracis-28353	161	1	thus	thus	ADV
bracis-28353	161	2	,	,	PUNCT
bracis-28353	161	3	we	we	PRON
bracis-28353	161	4	can	can	AUX
bracis-28353	161	5	start	start	VERB
bracis-28353	161	6	from	from	ADP
bracis-28353	161	7	a	a	DET
bracis-28353	161	8	initial	initial	ADJ
bracis-28353	161	9	state	state	NOUN
bracis-28353	161	10	and	and	CCONJ
bracis-28353	161	11	progressively	progressively	ADV
bracis-28353	161	12	advance	advance	NOUN
bracis-28353	161	13	,	,	PUNCT
bracis-28353	161	14	determining	determine	VERB
bracis-28353	161	15	a	a	DET
bracis-28353	161	16	sequence	sequence	NOUN
bracis-28353	161	17	of	of	ADP
bracis-28353	161	18	actions	action	NOUN
bracis-28353	161	19	and	and	CCONJ
bracis-28353	161	20	states	state	NOUN
bracis-28353	161	21	that	that	PRON
bracis-28353	161	22	lead	lead	VERB
bracis-28353	161	23	achievement	achievement	NOUN
bracis-28353	161	24	of	of	ADP
bracis-28353	161	25	the	the	DET
bracis-28353	161	26	goal	goal	NOUN
bracis-28353	161	27	state	state	NOUN
bracis-28353	161	28	progressive	progressive	ADJ
bracis-28353	161	29	search	search	NOUN
bracis-28353	161	30	[	[	X
bracis-28353	161	31	10	10	NUM
bracis-28353	161	32	]	]	PUNCT
bracis-28353	161	33	or	or	CCONJ
bracis-28353	161	34	from	from	ADP
bracis-28353	161	35	goal	goal	NOUN
bracis-28353	161	36	state	state	NOUN
bracis-28353	161	37	and	and	CCONJ
bracis-28353	161	38	regressively	regressively	ADV
bracis-28353	161	39	determining	determine	VERB
bracis-28353	161	40	the	the	DET
bracis-28353	161	41	sequence	sequence	NOUN
bracis-28353	161	42	of	of	ADP
bracis-28353	161	43	the	the	DET
bracis-28353	161	44	actions	action	NOUN
bracis-28353	161	45	and	and	CCONJ
bracis-28353	161	46	state	state	NOUN
bracis-28353	161	47	that	that	PRON
bracis-28353	161	48	lead	lead	VERB
bracis-28353	161	49	achievement	achievement	NOUN
bracis-28353	161	50	of	of	ADP
bracis-28353	161	51	the	the	DET
bracis-28353	161	52	initial	initial	ADJ
bracis-28353	161	53	state	state	NOUN
bracis-28353	161	54	regressive	regressive	ADJ
bracis-28353	161	55	search	search	NOUN
bracis-28353	161	56	[	[	X
bracis-28353	161	57	24	24	NUM
bracis-28353	161	58	]	]	PUNCT
bracis-28353	161	59	.	.	PUNCT
bracis-28353	162	1	from	from	ADP
bracis-28353	162	2	the	the	DET
bracis-28353	162	3	representation	representation	NOUN
bracis-28353	162	4	of	of	ADP
bracis-28353	162	5	the	the	DET
bracis-28353	162	6	actions	action	NOUN
bracis-28353	162	7	through	through	ADP
bracis-28353	162	8	of	of	ADP
bracis-28353	162	9	the	the	DET
bracis-28353	162	10	preconditions	precondition	NOUN
bracis-28353	162	11	an	an	DET
bracis-28353	162	12	effect	effect	NOUN
bracis-28353	162	13	,	,	PUNCT
bracis-28353	162	14	is	be	AUX
bracis-28353	162	15	possible	possible	ADJ
bracis-28353	162	16	compute	compute	VERB
bracis-28353	162	17	the	the	DET
bracis-28353	162	18	set	set	NOUN
bracis-28353	162	19	of	of	ADP
bracis-28353	162	20	states	state	NOUN
bracis-28353	162	21	y	y	PROPN
bracis-28353	162	22	that	that	PRON
bracis-28353	162	23	precede	precede	VERB
bracis-28353	162	24	a	a	DET
bracis-28353	162	25	set	set	NOUN
bracis-28353	162	26	x	x	PUNCT
bracis-28353	162	27	through	through	ADP
bracis-28353	162	28	of	of	ADP
bracis-28353	162	29	the	the	DET
bracis-28353	162	30	regression	regression	NOUN
bracis-28353	162	31	operations	operation	NOUN
bracis-28353	162	32	of	of	ADP
bracis-28353	162	33	a	a	DET
bracis-28353	162	34	set	set	NOUN
bracis-28353	162	35	of	of	ADP
bracis-28353	162	36	states	state	NOUN
bracis-28353	162	37	.	.	PUNCT
bracis-28353	163	1	the	the	DET
bracis-28353	163	2	regression	regression	NOUN
bracis-28353	163	3	of	of	ADP
bracis-28353	163	4	a	a	DET
bracis-28353	163	5	set	set	NOUN
bracis-28353	163	6	of	of	ADP
bracis-28353	163	7	states	state	NOUN
bracis-28353	163	8	x	x	PUNCT
bracis-28353	163	9	by	by	ADP
bracis-28353	163	10	action	action	NOUN
bracis-28353	163	11	a	a	PRON
bracis-28353	163	12	leads	lead	VERB
bracis-28353	163	13	to	to	ADP
bracis-28353	163	14	a	a	DET
bracis-28353	163	15	set	set	ADJ
bracis-28353	163	16	y	y	PROPN
bracis-28353	163	17	of	of	ADP
bracis-28353	163	18	predecessor	predecessor	NOUN
bracis-28353	163	19	states	state	NOUN
bracis-28353	163	20	.	.	PUNCT
bracis-28353	164	1	however	however	ADV
bracis-28353	164	2	,	,	PUNCT
bracis-28353	164	3	due	due	ADP
bracis-28353	164	4	to	to	ADP
bracis-28353	164	5	the	the	DET
bracis-28353	164	6	non	non	NOUN
bracis-28353	164	7	-	-	NOUN
bracis-28353	164	8	determinism	determinism	NOUN
bracis-28353	164	9	of	of	ADP
bracis-28353	164	10	actions	action	NOUN
bracis-28353	164	11	,	,	PUNCT
bracis-28353	164	12	to	to	ADP
bracis-28353	164	13	the	the	DET
bracis-28353	164	14	applying	apply	VERB
bracis-28353	164	15	an	an	DET
bracis-28353	164	16	action	action	NOUN
bracis-28353	164	17	a	a	PRON
bracis-28353	164	18	on	on	ADP
bracis-28353	164	19	y	y	PROPN
bracis-28353	164	20	,	,	PUNCT
bracis-28353	164	21	the	the	DET
bracis-28353	164	22	states	state	NOUN
bracis-28353	164	23	on	on	ADP
bracis-28353	164	24	x	x	PUNCT
bracis-28353	164	25	can	can	AUX
bracis-28353	164	26	be	be	AUX
bracis-28353	164	27	required	require	VERB
bracis-28353	164	28	(	(	PUNCT
bracis-28353	164	29	strong	strong	ADJ
bracis-28353	164	30	regression	regression	NOUN
bracis-28353	164	31	)	)	PUNCT
bracis-28353	164	32	or	or	CCONJ
bracis-28353	164	33	possibly	possibly	ADV
bracis-28353	164	34	(	(	PUNCT
bracis-28353	164	35	weak	weak	ADJ
bracis-28353	164	36	regression	regression	NOUN
bracis-28353	164	37	)	)	PUNCT
bracis-28353	164	38	achieved	achieve	VERB
bracis-28353	164	39	[	[	X
bracis-28353	164	40	18	18	NUM
bracis-28353	164	41	]	]	PUNCT
bracis-28353	164	42	.	.	PUNCT
bracis-28353	165	1	using	use	VERB
bracis-28353	165	2	the	the	DET
bracis-28353	165	3	representation	representation	NOUN
bracis-28353	165	4	of	of	ADP
bracis-28353	165	5	states	state	NOUN
bracis-28353	165	6	and	and	CCONJ
bracis-28353	165	7	actions	action	NOUN
bracis-28353	165	8	as	as	ADP
bracis-28353	165	9	propositional	propositional	ADJ
bracis-28353	165	10	formulas	formula	NOUN
bracis-28353	165	11	[	[	X
bracis-28353	165	12	18	18	NUM
bracis-28353	165	13	]	]	PUNCT
bracis-28353	165	14	,	,	PUNCT
bracis-28353	165	15	is	be	AUX
bracis-28353	165	16	possible	possible	ADJ
bracis-28353	165	17	to	to	PART
bracis-28353	165	18	compute	compute	VERB
bracis-28353	165	19	the	the	DET
bracis-28353	165	20	set	set	NOUN
bracis-28353	165	21	of	of	ADP
bracis-28353	165	22	predecessor	predecessor	NOUN
bracis-28353	165	23	states	state	NOUN
bracis-28353	165	24	(	(	PUNCT
bracis-28353	165	25	weak	weak	ADJ
bracis-28353	165	26	and	and	CCONJ
bracis-28353	165	27	strong	strong	ADJ
bracis-28353	165	28	regression	regression	NOUN
bracis-28353	165	29	operations	operation	NOUN
bracis-28353	165	30	)	)	PUNCT
bracis-28353	165	31	.	.	PUNCT
bracis-28353	166	1	these	these	DET
bracis-28353	166	2	operations	operation	NOUN
bracis-28353	166	3	was	be	AUX
bracis-28353	166	4	implemented	implement	VERB
bracis-28353	166	5	using	use	VERB
bracis-28353	166	6	binary	binary	ADJ
bracis-28353	166	7	decision	decision	NOUN
bracis-28353	166	8	diagram	diagram	NOUN
bracis-28353	166	9	[	[	X
bracis-28353	166	10	1	1	NUM
bracis-28353	166	11	]	]	PUNCT
bracis-28353	166	12	and	and	CCONJ
bracis-28353	166	13	incorporated	incorporate	VERB
bracis-28353	166	14	to	to	ADP
bracis-28353	166	15	a	a	DET
bracis-28353	166	16	planner	planner	NOUN
bracis-28353	166	17	capable	capable	ADJ
bracis-28353	166	18	of	of	ADP
bracis-28353	166	19	performing	perform	VERB
bracis-28353	166	20	symbolic	symbolic	ADJ
bracis-28353	166	21	model	model	NOUN
bracis-28353	166	22	checking	check	VERB
bracis-28353	166	23	using	use	VERB
bracis-28353	166	24	directly	directly	ADV
bracis-28353	166	25	the	the	DET
bracis-28353	166	26	actions	action	NOUN
bracis-28353	166	27	representation	representation	NOUN
bracis-28353	166	28	with	with	ADP
bracis-28353	166	29	preconditions	precondition	NOUN
bracis-28353	166	30	and	and	CCONJ
bracis-28353	166	31	effects	effect	NOUN
bracis-28353	166	32	.	.	PUNCT
bracis-28353	167	1	3.5	3.5	NUM
bracis-28353	167	2	planning	planning	NOUN
bracis-28353	167	3	as	as	ADP
bracis-28353	167	4	 	 	SPACE
bracis-28353	167	5	\(\alpha	\(\alpha	NOUN
bracis-28353	167	6	-\)ctl	-\)ctl	NOUN
bracis-28353	167	7	model	model	NOUN
bracis-28353	167	8	checking	check	VERB
bracis-28353	167	9	in	in	ADP
bracis-28353	167	10	this	this	DET
bracis-28353	167	11	section	section	NOUN
bracis-28353	167	12	,	,	PUNCT
bracis-28353	167	13	we	we	PRON
bracis-28353	167	14	briefly	briefly	ADV
bracis-28353	167	15	describe	describe	VERB
bracis-28353	167	16	the	the	DET
bracis-28353	167	17	planning	planning	NOUN
bracis-28353	167	18	as	as	ADP
bracis-28353	167	19	\(\alpha	\(\alpha	NOUN
bracis-28353	167	20	-\)ctl	-\)ctl	NOUN
bracis-28353	167	21	model	model	NOUN
bracis-28353	167	22	checking	check	VERB
bracis-28353	167	23	algorithms	algorithm	NOUN
bracis-28353	167	24	used	use	VERB
bracis-28353	167	25	in	in	ADP
bracis-28353	167	26	this	this	DET
bracis-28353	167	27	work	work	NOUN
bracis-28353	167	28	.	.	PUNCT
bracis-28353	168	1	the	the	DET
bracis-28353	168	2	algorithms	algorithm	NOUN
bracis-28353	168	3	receive	receive	VERB
bracis-28353	168	4	the	the	DET
bracis-28353	168	5	planning	planning	NOUN
bracis-28353	168	6	problem	problem	NOUN
bracis-28353	168	7	,	,	PUNCT
bracis-28353	168	8	whose	whose	DET
bracis-28353	168	9	domain	domain	NOUN
bracis-28353	168	10	is	be	AUX
bracis-28353	168	11	given	give	VERB
bracis-28353	168	12	by	by	ADP
bracis-28353	168	13	actions	action	NOUN
bracis-28353	168	14	with	with	ADP
bracis-28353	168	15	preconditions	precondition	NOUN
bracis-28353	168	16	and	and	CCONJ
bracis-28353	168	17	effects	effect	NOUN
bracis-28353	168	18	;	;	PUNCT
bracis-28353	168	19	an	an	DET
bracis-28353	168	20	initial	initial	ADJ
bracis-28353	168	21	state	state	NOUN
bracis-28353	168	22	\(s_0\	\(s_0\	PROPN
bracis-28353	168	23	)	)	PUNCT
bracis-28353	168	24	;	;	PUNCT
bracis-28353	168	25	a	a	DET
bracis-28353	168	26	goal	goal	NOUN
bracis-28353	168	27	formula	formula	NOUN
bracis-28353	168	28	\(\varphi	\(\varphi	NOUN
bracis-28353	168	29	\	\	NOUN
bracis-28353	168	30	)	)	PUNCT
bracis-28353	168	31	;	;	PUNCT
bracis-28353	168	32	and	and	CCONJ
bracis-28353	168	33	a	a	DET
bracis-28353	168	34	propositional	propositional	ADJ
bracis-28353	168	35	atom	atom	NOUN
bracis-28353	168	36	p	p	NOUN
bracis-28353	168	37	,	,	PUNCT
bracis-28353	168	38	representing	represent	VERB
bracis-28353	168	39	the	the	DET
bracis-28353	168	40	qualitative	qualitative	ADJ
bracis-28353	168	41	preference	preference	NOUN
bracis-28353	168	42	to	to	PART
bracis-28353	168	43	be	be	AUX
bracis-28353	168	44	satisfied	satisfied	ADJ
bracis-28353	168	45	in	in	ADP
bracis-28353	168	46	all	all	DET
bracis-28353	168	47	states	state	NOUN
bracis-28353	168	48	along	along	ADP
bracis-28353	168	49	the	the	DET
bracis-28353	168	50	path	path	NOUN
bracis-28353	168	51	to	to	PART
bracis-28353	168	52	achieve	achieve	VERB
bracis-28353	168	53	the	the	DET
bracis-28353	168	54	goal	goal	NOUN
bracis-28353	168	55	.	.	PUNCT
bracis-28353	169	1	the	the	DET
bracis-28353	169	2	algorithm	algorithm	NOUN
bracis-28353	169	3	sat	sit	VERB
bracis-28353	169	4	-	-	PUNCT
bracis-28353	169	5	au	au	NOUN
bracis-28353	169	6	computes	compute	VERB
bracis-28353	169	7	the	the	DET
bracis-28353	169	8	submodel	submodel	NOUN
bracis-28353	169	9	of	of	ADP
bracis-28353	169	10	the	the	DET
bracis-28353	169	11	domain	domain	NOUN
bracis-28353	169	12	that	that	PRON
bracis-28353	169	13	satisfies	satisfy	VERB
bracis-28353	169	14	the	the	DET
bracis-28353	169	15	\(\alpha	\(\alpha	ADJ
bracis-28353	169	16	\)-ctl	\)-ctl	NOUN
bracis-28353	169	17	formula	formula	NOUN
bracis-28353	169	18	.	.	PUNCT
bracis-28353	170	1	it	it	PRON
bracis-28353	170	2	performs	perform	VERB
bracis-28353	170	3	strong	strong	ADJ
bracis-28353	170	4	regression	regression	NOUN
bracis-28353	170	5	[	[	X
bracis-28353	170	6	17	17	NUM
bracis-28353	170	7	]	]	PUNCT
bracis-28353	170	8	,	,	PUNCT
bracis-28353	170	9	computing	compute	VERB
bracis-28353	170	10	a	a	DET
bracis-28353	170	11	path	path	NOUN
bracis-28353	170	12	that	that	PRON
bracis-28353	170	13	reaches	reach	VERB
bracis-28353	170	14	a	a	DET
bracis-28353	170	15	goal	goal	NOUN
bracis-28353	170	16	\(\varphi	\(\varphi	PROPN
bracis-28353	170	17	_	_	NOUN
bracis-28353	170	18	2\	2\	X
bracis-28353	170	19	)	)	PUNCT
bracis-28353	170	20	while	while	SCONJ
bracis-28353	170	21	each	each	DET
bracis-28353	170	22	state	state	NOUN
bracis-28353	170	23	along	along	ADP
bracis-28353	170	24	the	the	DET
bracis-28353	170	25	path	path	NOUN
bracis-28353	170	26	towards	towards	ADP
bracis-28353	170	27	\(s_0\	\(s_0\	NOUN
bracis-28353	170	28	)	)	PUNCT
bracis-28353	170	29	also	also	ADV
bracis-28353	170	30	satisfies	satisfy	VERB
bracis-28353	170	31	the	the	DET
bracis-28353	170	32	formula	formula	NOUN
bracis-28353	170	33	\(\varphi	\(\varphi	NOUN
bracis-28353	170	34	_	_	PRON
bracis-28353	170	35	{	{	PUNCT
bracis-28353	170	36	1}\	1}\	NUM
bracis-28353	170	37	)	)	PUNCT
bracis-28353	170	38	.	.	PUNCT
bracis-28353	171	1	this	this	DET
bracis-28353	171	2	operation	operation	NOUN
bracis-28353	171	3	computes	compute	VERB
bracis-28353	171	4	the	the	DET
bracis-28353	171	5	predecessors	predecessor	NOUN
bracis-28353	171	6	states	state	NOUN
bracis-28353	171	7	directly	directly	ADV
bracis-28353	171	8	using	use	VERB
bracis-28353	171	9	actions	action	NOUN
bracis-28353	171	10	defined	define	VERB
bracis-28353	171	11	in	in	ADP
bracis-28353	171	12	terms	term	NOUN
bracis-28353	171	13	of	of	ADP
bracis-28353	171	14	preconditions	precondition	NOUN
bracis-28353	171	15	and	and	CCONJ
bracis-28353	171	16	effects	effect	NOUN
bracis-28353	171	17	(	(	PUNCT
bracis-28353	171	18	fig	fig	NOUN
bracis-28353	171	19	.	.	PUNCT
bracis-28353	171	20	 	 	SPACE
bracis-28353	171	21	3	3	NUM
bracis-28353	171	22	)	)	PUNCT
bracis-28353	171	23	.	.	PUNCT
bracis-28353	172	1	fig	fig	NOUN
bracis-28353	172	2	.	.	PUNCT
bracis-28353	173	1	3	3	X
bracis-28353	173	2	.	.	NUM
bracis-28353	173	3	sat	sit	VERB
bracis-28353	173	4	-	-	PUNCT
bracis-28353	173	5	au	au	NOUN
bracis-28353	173	6	computes	compute	VERB
bracis-28353	173	7	the	the	DET
bracis-28353	173	8	set	set	NOUN
bracis-28353	173	9	of	of	ADP
bracis-28353	173	10	states	state	NOUN
bracis-28353	173	11	satisfying	satisfy	VERB
bracis-28353	173	12	full	full	ADJ
bracis-28353	173	13	size	size	NOUN
bracis-28353	173	14	image	image	NOUN
bracis-28353	173	15	figure	figure	NOUN
bracis-28353	173	16	 	 	SPACE
bracis-28353	173	17	4	4	NUM
bracis-28353	173	18	provides	provide	VERB
bracis-28353	173	19	an	an	DET
bracis-28353	173	20	example	example	NOUN
bracis-28353	173	21	of	of	ADP
bracis-28353	173	22	how	how	SCONJ
bracis-28353	173	23	to	to	PART
bracis-28353	173	24	compute	compute	VERB
bracis-28353	173	25	the	the	DET
bracis-28353	173	26	set	set	NOUN
bracis-28353	173	27	of	of	ADP
bracis-28353	173	28	states	state	NOUN
bracis-28353	173	29	that	that	SCONJ
bracis-28353	173	30	satisfies	satisfy	VERB
bracis-28353	173	31	,	,	PUNCT
bracis-28353	173	32	where	where	SCONJ
bracis-28353	173	33	\(\varphi	\(\varphi	ADJ
bracis-28353	173	34	\	\	NOUN
bracis-28353	173	35	)	)	PUNCT
bracis-28353	173	36	is	be	AUX
bracis-28353	173	37	the	the	DET
bracis-28353	173	38	goal	goal	NOUN
bracis-28353	173	39	formula	formula	NOUN
bracis-28353	173	40	\(\lnot	\(\lnot	ADV
bracis-28353	174	1	p	p	X
bracis-28353	174	2	\wedge	\wedge	PROPN
bracis-28353	174	3	q	q	PROPN
bracis-28353	174	4	\wedge	\wedge	PROPN
bracis-28353	174	5	r\	r\	PROPN
bracis-28353	174	6	)	)	PUNCT
bracis-28353	174	7	.	.	PUNCT
bracis-28353	175	1	the	the	DET
bracis-28353	175	2	algorithm	algorithm	NOUN
bracis-28353	175	3	starts	start	VERB
bracis-28353	175	4	by	by	ADP
bracis-28353	175	5	computing	compute	VERB
bracis-28353	175	6	the	the	DET
bracis-28353	175	7	set	set	NOUN
bracis-28353	175	8	of	of	ADP
bracis-28353	175	9	pairs	pair	NOUN
bracis-28353	175	10	state	state	NOUN
bracis-28353	175	11	-	-	PUNCT
bracis-28353	175	12	action	action	NOUN
bracis-28353	175	13	whose	whose	DET
bracis-28353	175	14	states	state	NOUN
bracis-28353	175	15	satisfies	satisfy	VERB
bracis-28353	175	16	\(\varphi	\(\varphi	ADJ
bracis-28353	175	17	\	\	NOUN
bracis-28353	175	18	)	)	PUNCT
bracis-28353	175	19	(	(	PUNCT
bracis-28353	175	20	\(y	\(y	NOUN
bracis-28353	175	21	=	=	SYM
bracis-28353	175	22	\{(s_5	\{(s_5	PROPN
bracis-28353	175	23	,	,	PUNCT
bracis-28353	175	24	\tau	\tau	ADV
bracis-28353	175	25	\}\	\}\	NOUN
bracis-28353	175	26	)	)	PUNCT
bracis-28353	175	27	)	)	PUNCT
bracis-28353	175	28	,	,	PUNCT
bracis-28353	175	29	as	as	SCONJ
bracis-28353	175	30	showed	show	VERB
bracis-28353	175	31	in	in	ADP
bracis-28353	175	32	fig	fig	NOUN
bracis-28353	175	33	.	.	PUNCT
bracis-28353	175	34	 	 	SPACE
bracis-28353	175	35	4(a	4(a	NUM
bracis-28353	175	36	)	)	PUNCT
bracis-28353	175	37	.	.	PUNCT
bracis-28353	176	1	in	in	ADP
bracis-28353	176	2	the	the	DET
bracis-28353	176	3	first	first	ADJ
bracis-28353	176	4	iteration	iteration	NOUN
bracis-28353	176	5	(	(	PUNCT
bracis-28353	176	6	fig	fig	NOUN
bracis-28353	176	7	.	.	PUNCT
bracis-28353	176	8	 	 	SPACE
bracis-28353	176	9	4b	4b	PROPN
bracis-28353	176	10	)	)	PUNCT
bracis-28353	176	11	,	,	PUNCT
bracis-28353	176	12	the	the	DET
bracis-28353	176	13	algorithm	algorithm	NOUN
bracis-28353	176	14	computes	compute	VERB
bracis-28353	176	15	the	the	DET
bracis-28353	176	16	strong	strong	ADJ
bracis-28353	176	17	regression	regression	NOUN
bracis-28353	176	18	of	of	ADP
bracis-28353	176	19	the	the	DET
bracis-28353	176	20	set	set	NOUN
bracis-28353	176	21	of	of	ADP
bracis-28353	176	22	states	state	NOUN
bracis-28353	176	23	satisfying	satisfy	VERB
bracis-28353	176	24	\(\varphi	\(\varphi	PUNCT
bracis-28353	176	25	\	\	NOUN
bracis-28353	176	26	)	)	PUNCT
bracis-28353	176	27	and	and	CCONJ
bracis-28353	176	28	performs	perform	VERB
bracis-28353	176	29	the	the	DET
bracis-28353	176	30	intersection	intersection	NOUN
bracis-28353	176	31	with	with	ADP
bracis-28353	176	32	the	the	DET
bracis-28353	176	33	set	set	NOUN
bracis-28353	176	34	of	of	ADP
bracis-28353	176	35	states	state	NOUN
bracis-28353	176	36	satisfying	satisfy	VERB
bracis-28353	176	37	p	p	X
bracis-28353	176	38	,	,	PUNCT
bracis-28353	176	39	obtaining	obtain	VERB
bracis-28353	176	40	the	the	DET
bracis-28353	176	41	set	set	NOUN
bracis-28353	176	42	of	of	ADP
bracis-28353	176	43	pairs	pair	NOUN
bracis-28353	176	44	state	state	NOUN
bracis-28353	176	45	-	-	PUNCT
bracis-28353	176	46	action	action	NOUN
bracis-28353	176	47	\(y	\(y	NUM
bracis-28353	176	48	=	=	SYM
bracis-28353	176	49	\{(s_5\	\{(s_5\	PROPN
bracis-28353	176	50	)	)	PUNCT
bracis-28353	176	51	,	,	PUNCT
bracis-28353	176	52	\(\tau	\(\tau	PUNCT
bracis-28353	176	53	\	\	NOUN
bracis-28353	176	54	)	)	PUNCT
bracis-28353	176	55	)	)	PUNCT
bracis-28353	176	56	,	,	PUNCT
bracis-28353	176	57	\((s_2,a_6)\	\((s_2,a_6)\	ADJ
bracis-28353	176	58	)	)	PUNCT
bracis-28353	176	59	,	,	PUNCT
bracis-28353	176	60	\((s_3,a_7)\}\	\((s_3,a_7)\}\	PROPN
bracis-28353	176	61	)	)	PUNCT
bracis-28353	176	62	.	.	PUNCT
bracis-28353	177	1	in	in	ADP
bracis-28353	177	2	the	the	DET
bracis-28353	177	3	second	second	ADJ
bracis-28353	177	4	iteration	iteration	NOUN
bracis-28353	177	5	(	(	PUNCT
bracis-28353	177	6	fig	fig	NOUN
bracis-28353	177	7	.	.	PUNCT
bracis-28353	177	8	 	 	SPACE
bracis-28353	177	9	4c	4c	NOUN
bracis-28353	177	10	)	)	PUNCT
bracis-28353	177	11	,	,	PUNCT
bracis-28353	177	12	the	the	DET
bracis-28353	177	13	strong	strong	ADJ
bracis-28353	177	14	regression	regression	NOUN
bracis-28353	177	15	of	of	ADP
bracis-28353	177	16	the	the	DET
bracis-28353	177	17	set	set	NOUN
bracis-28353	177	18	of	of	ADP
bracis-28353	177	19	states	state	NOUN
bracis-28353	177	20	y	y	PROPN
bracis-28353	177	21	is	be	AUX
bracis-28353	177	22	computed	compute	VERB
bracis-28353	177	23	,	,	PUNCT
bracis-28353	177	24	the	the	DET
bracis-28353	177	25	intersection	intersection	NOUN
bracis-28353	177	26	with	with	ADP
bracis-28353	177	27	the	the	DET
bracis-28353	177	28	set	set	NOUN
bracis-28353	177	29	of	of	ADP
bracis-28353	177	30	states	state	NOUN
bracis-28353	177	31	satisfying	satisfy	VERB
bracis-28353	177	32	p	p	NOUN
bracis-28353	177	33	is	be	AUX
bracis-28353	177	34	done	do	VERB
bracis-28353	177	35	,	,	PUNCT
bracis-28353	177	36	resulting	result	VERB
bracis-28353	177	37	in	in	ADP
bracis-28353	177	38	the	the	DET
bracis-28353	177	39	set	set	NOUN
bracis-28353	177	40	of	of	ADP
bracis-28353	177	41	pairs	pair	NOUN
bracis-28353	177	42	state	state	NOUN
bracis-28353	177	43	-	-	PUNCT
bracis-28353	177	44	action	action	NOUN
bracis-28353	177	45	\(y	\(y	NUM
bracis-28353	177	46	=	=	SYM
bracis-28353	177	47	\{(s_5\	\{(s_5\	PROPN
bracis-28353	177	48	)	)	PUNCT
bracis-28353	177	49	,	,	PUNCT
bracis-28353	177	50	\(\tau	\(\tau	PUNCT
bracis-28353	178	1	\	\	NUM
bracis-28353	178	2	)	)	PUNCT
bracis-28353	178	3	)	)	PUNCT
bracis-28353	178	4	,	,	PUNCT
bracis-28353	178	5	\((s_2,a_6	\((s_2,a_6	NOUN
bracis-28353	178	6	)	)	PUNCT
bracis-28353	178	7	,	,	PUNCT
bracis-28353	178	8	(	(	PUNCT
bracis-28353	178	9	s_3	s_3	PROPN
bracis-28353	178	10	,	,	PUNCT
bracis-28353	178	11	a_7	a_7	PROPN
bracis-28353	178	12	)	)	PUNCT
bracis-28353	178	13	,	,	PUNCT
bracis-28353	178	14	(	(	PUNCT
bracis-28353	178	15	s_0,a_2	s_0,a_2	PROPN
bracis-28353	178	16	)	)	PUNCT
bracis-28353	178	17	,	,	PUNCT
bracis-28353	178	18	(	(	PUNCT
bracis-28353	178	19	s_0	s_0	PROPN
bracis-28353	178	20	,	,	PUNCT
bracis-28353	178	21	a_3	a_3	PROPN
bracis-28353	178	22	)	)	PUNCT
bracis-28353	178	23	\}\	\}\	NOUN
bracis-28353	178	24	)	)	PUNCT
bracis-28353	178	25	.	.	PUNCT
bracis-28353	179	1	the	the	DET
bracis-28353	179	2	fixed	fix	VERB
bracis-28353	179	3	point	point	NOUN
bracis-28353	179	4	is	be	AUX
bracis-28353	179	5	reached	reach	VERB
bracis-28353	179	6	after	after	ADP
bracis-28353	179	7	the	the	DET
bracis-28353	179	8	second	second	ADJ
bracis-28353	179	9	iteration	iteration	NOUN
bracis-28353	179	10	,	,	PUNCT
bracis-28353	179	11	once	once	ADV
bracis-28353	179	12	no	no	DET
bracis-28353	179	13	new	new	ADJ
bracis-28353	179	14	pair	pair	NOUN
bracis-28353	179	15	state	state	NOUN
bracis-28353	179	16	-	-	PUNCT
bracis-28353	179	17	action	action	NOUN
bracis-28353	179	18	is	be	AUX
bracis-28353	179	19	obtained	obtain	VERB
bracis-28353	179	20	with	with	ADP
bracis-28353	179	21	weak	weak	ADJ
bracis-28353	179	22	regression	regression	NOUN
bracis-28353	179	23	operation	operation	NOUN
bracis-28353	179	24	in	in	ADP
bracis-28353	179	25	the	the	DET
bracis-28353	179	26	y	y	PROPN
bracis-28353	179	27	set	set	PROPN
bracis-28353	179	28	.	.	PUNCT
bracis-28353	180	1	similarly	similarly	ADV
bracis-28353	180	2	,	,	PUNCT
bracis-28353	180	3	the	the	DET
bracis-28353	180	4	algorithm	algorithm	NOUN
bracis-28353	180	5	sat	sit	VERB
bracis-28353	180	6	-	-	PUNCT
bracis-28353	180	7	eu	eu	NOUN
bracis-28353	180	8	compute	compute	NOUN
bracis-28353	180	9	the	the	DET
bracis-28353	180	10	set	set	NOUN
bracis-28353	180	11	of	of	ADP
bracis-28353	180	12	states	state	NOUN
bracis-28353	180	13	that	that	PRON
bracis-28353	180	14	satisfy	satisfy	VERB
bracis-28353	180	15	the	the	DET
bracis-28353	180	16	formula	formula	NOUN
bracis-28353	180	17	,	,	PUNCT
bracis-28353	180	18	but	but	CCONJ
bracis-28353	180	19	using	use	VERB
bracis-28353	180	20	weak	weak	ADJ
bracis-28353	180	21	regression	regression	NOUN
bracis-28353	180	22	operations	operation	NOUN
bracis-28353	180	23	[	[	X
bracis-28353	180	24	17	17	NUM
bracis-28353	180	25	]	]	PUNCT
bracis-28353	180	26	.	.	PUNCT
bracis-28353	181	1	in	in	ADP
bracis-28353	181	2	addition	addition	NOUN
bracis-28353	181	3	,	,	PUNCT
bracis-28353	181	4	the	the	DET
bracis-28353	181	5	algorithm	algorithm	NOUN
bracis-28353	181	6	sat	sit	VERB
bracis-28353	181	7	-	-	PUNCT
bracis-28353	181	8	ag	ag	PROPN
bracis-28353	181	9	computes	compute	VERB
bracis-28353	181	10	a	a	DET
bracis-28353	181	11	submodel	submodel	NOUN
bracis-28353	181	12	satisfying	satisfy	VERB
bracis-28353	181	13	the	the	DET
bracis-28353	181	14	\(\alpha	\(\alpha	ADJ
bracis-28353	181	15	\)-ctl	\)-ctl	NOUN
bracis-28353	181	16	formula	formula	NOUN
bracis-28353	181	17	.	.	PUNCT
bracis-28353	182	1	it	it	PRON
bracis-28353	182	2	performs	perform	VERB
bracis-28353	182	3	regressive	regressive	ADJ
bracis-28353	182	4	search	search	NOUN
bracis-28353	182	5	from	from	ADP
bracis-28353	182	6	goal	goal	NOUN
bracis-28353	182	7	states	state	NOUN
bracis-28353	182	8	(	(	PUNCT
bracis-28353	182	9	states	state	NOUN
bracis-28353	182	10	that	that	PRON
bracis-28353	182	11	satisfies	satisfy	VERB
bracis-28353	182	12	\(\varphi	\(\varphi	NOUN
bracis-28353	182	13	_	_	NOUN
bracis-28353	182	14	1\	1\	NUM
bracis-28353	182	15	)	)	PUNCT
bracis-28353	182	16	)	)	PUNCT
bracis-28353	182	17	towards	towards	ADP
bracis-28353	182	18	the	the	DET
bracis-28353	182	19	initial	initial	ADJ
bracis-28353	182	20	state	state	NOUN
bracis-28353	182	21	\(s_0\	\(s_0\	PROPN
bracis-28353	182	22	)	)	PUNCT
bracis-28353	182	23	by	by	ADP
bracis-28353	182	24	using	use	VERB
bracis-28353	182	25	strong	strong	ADJ
bracis-28353	182	26	regression	regression	NOUN
bracis-28353	182	27	operations	operation	NOUN
bracis-28353	182	28	[	[	X
bracis-28353	182	29	17	17	NUM
bracis-28353	182	30	]	]	PUNCT
bracis-28353	182	31	.	.	PUNCT
bracis-28353	183	1	fig	fig	NOUN
bracis-28353	183	2	.	.	PUNCT
bracis-28353	184	1	4	4	X
bracis-28353	184	2	.	.	X
bracis-28353	184	3	computing	compute	VERB
bracis-28353	184	4	the	the	DET
bracis-28353	184	5	always	always	ADV
bracis-28353	184	6	preference	preference	NOUN
bracis-28353	184	7	for	for	ADP
bracis-28353	184	8	strong	strong	ADJ
bracis-28353	184	9	solutions	solution	NOUN
bracis-28353	184	10	.	.	PUNCT
bracis-28353	185	1	full	full	ADJ
bracis-28353	185	2	size	size	NOUN
bracis-28353	185	3	image	image	NOUN
bracis-28353	185	4	4	4	NUM
bracis-28353	185	5	specifying	specify	VERB
bracis-28353	185	6	preferences	preference	NOUN
bracis-28353	185	7	over	over	ADP
bracis-28353	185	8	 	 	SPACE
bracis-28353	185	9	policies	policy	NOUN
bracis-28353	185	10	in	in	ADP
bracis-28353	185	11	 	 	SPACE
bracis-28353	185	12	\(\alpha	\(\alpha	X
bracis-28353	185	13	\)-ctl	\)-ctl	NOUN
bracis-28353	185	14	in	in	ADP
bracis-28353	185	15	this	this	DET
bracis-28353	185	16	section	section	NOUN
bracis-28353	185	17	we	we	PRON
bracis-28353	185	18	show	show	VERB
bracis-28353	185	19	how	how	SCONJ
bracis-28353	185	20	to	to	PART
bracis-28353	185	21	specify	specify	VERB
bracis-28353	185	22	preferences	preference	NOUN
bracis-28353	185	23	about	about	ADP
bracis-28353	185	24	policies	policy	NOUN
bracis-28353	185	25	in	in	ADP
bracis-28353	185	26	\(\alpha	\(\alpha	NOUN
bracis-28353	185	27	-\)ctl	-\)ctl	NOUN
bracis-28353	185	28	temporal	temporal	ADJ
bracis-28353	185	29	logic	logic	NOUN
bracis-28353	185	30	.	.	PUNCT
bracis-28353	186	1	to	to	ADP
bracis-28353	186	2	the	the	DET
bracis-28353	186	3	best	good	ADJ
bracis-28353	186	4	of	of	ADP
bracis-28353	186	5	our	our	PRON
bracis-28353	186	6	knowledge	knowledge	NOUN
bracis-28353	186	7	,	,	PUNCT
bracis-28353	186	8	this	this	DET
bracis-28353	186	9	work	work	NOUN
bracis-28353	186	10	is	be	AUX
bracis-28353	186	11	the	the	DET
bracis-28353	186	12	first	first	ADJ
bracis-28353	186	13	step	step	NOUN
bracis-28353	186	14	toward	toward	ADP
bracis-28353	186	15	extending	extend	VERB
bracis-28353	186	16	the	the	DET
bracis-28353	186	17	notion	notion	NOUN
bracis-28353	186	18	of	of	ADP
bracis-28353	186	19	qualitative	qualitative	ADJ
bracis-28353	186	20	preferences	preference	NOUN
bracis-28353	186	21	in	in	ADP
bracis-28353	186	22	non	non	ADJ
bracis-28353	186	23	-	-	ADJ
bracis-28353	186	24	deterministic	deterministic	ADJ
bracis-28353	186	25	environments	environment	NOUN
bracis-28353	186	26	to	to	PART
bracis-28353	186	27	also	also	ADV
bracis-28353	186	28	include	include	VERB
bracis-28353	186	29	the	the	DET
bracis-28353	186	30	quality	quality	NOUN
bracis-28353	186	31	of	of	ADP
bracis-28353	186	32	policy	policy	NOUN
bracis-28353	186	33	(	(	PUNCT
bracis-28353	186	34	weak	weak	ADJ
bracis-28353	186	35	,	,	PUNCT
bracis-28353	186	36	strong	strong	ADJ
bracis-28353	186	37	or	or	CCONJ
bracis-28353	186	38	strong	strong	ADJ
bracis-28353	186	39	-	-	PUNCT
bracis-28353	186	40	cyclic	cyclic	NOUN
bracis-28353	186	41	)	)	PUNCT
bracis-28353	186	42	.	.	PUNCT
bracis-28353	187	1	in	in	ADP
bracis-28353	187	2	order	order	NOUN
bracis-28353	187	3	to	to	PART
bracis-28353	187	4	do	do	AUX
bracis-28353	187	5	so	so	ADV
bracis-28353	187	6	,	,	PUNCT
bracis-28353	187	7	we	we	PRON
bracis-28353	187	8	apply	apply	VERB
bracis-28353	187	9	the	the	DET
bracis-28353	187	10	notion	notion	NOUN
bracis-28353	187	11	of	of	ADP
bracis-28353	187	12	extended	extended	ADJ
bracis-28353	187	13	goals	goal	NOUN
bracis-28353	187	14	in	in	ADP
bracis-28353	187	15	\(\alpha	\(\alpha	X
bracis-28353	187	16	\)-ctl	\)-ctl	NOUN
bracis-28353	188	1	[	[	X
bracis-28353	188	2	27	27	NUM
bracis-28353	188	3	]	]	PUNCT
bracis-28353	188	4	to	to	PART
bracis-28353	188	5	express	express	VERB
bracis-28353	188	6	qualitative	qualitative	ADJ
bracis-28353	188	7	preferences	preference	NOUN
bracis-28353	188	8	.	.	PUNCT
bracis-28353	189	1	in	in	ADP
bracis-28353	189	2	this	this	DET
bracis-28353	189	3	work	work	NOUN
bracis-28353	189	4	,	,	PUNCT
bracis-28353	189	5	we	we	PRON
bracis-28353	189	6	will	will	AUX
bracis-28353	189	7	specify	specify	VERB
bracis-28353	189	8	the	the	DET
bracis-28353	189	9	qualitative	qualitative	ADJ
bracis-28353	189	10	preference	preference	NOUN
bracis-28353	189	11	always(p	always(p	PROPN
bracis-28353	189	12	)	)	PUNCT
bracis-28353	189	13	,	,	PUNCT
bracis-28353	189	14	which	which	PRON
bracis-28353	189	15	expresses	express	VERB
bracis-28353	189	16	that	that	SCONJ
bracis-28353	189	17	the	the	DET
bracis-28353	189	18	property	property	NOUN
bracis-28353	189	19	p	p	NOUN
bracis-28353	189	20	must	must	AUX
bracis-28353	189	21	occur	occur	VERB
bracis-28353	189	22	in	in	ADP
bracis-28353	189	23	all	all	DET
bracis-28353	189	24	states	state	NOUN
bracis-28353	189	25	in	in	ADP
bracis-28353	189	26	the	the	DET
bracis-28353	189	27	path	path	NOUN
bracis-28353	189	28	to	to	PART
bracis-28353	189	29	achieve	achieve	VERB
bracis-28353	189	30	the	the	DET
bracis-28353	189	31	goal	goal	NOUN
bracis-28353	189	32	.	.	PUNCT
bracis-28353	190	1	consider	consider	VERB
bracis-28353	190	2	the	the	DET
bracis-28353	190	3	planning	planning	NOUN
bracis-28353	190	4	problem	problem	NOUN
bracis-28353	190	5	\(p	\(p	X
bracis-28353	190	6	=	=	PUNCT
bracis-28353	191	1	<	<	X
bracis-28353	191	2	\mathcal	\mathcal	PROPN
bracis-28353	191	3	{	{	PUNCT
bracis-28353	191	4	d	d	NOUN
bracis-28353	191	5	}	}	PUNCT
bracis-28353	191	6	,	,	PUNCT
bracis-28353	191	7	s_0	s_0	ADJ
bracis-28353	191	8	,	,	PUNCT
bracis-28353	191	9	\varphi	\varphi	PROPN
bracis-28353	191	10	>	>	SYM
bracis-28353	191	11	\	\	PROPN
bracis-28353	191	12	)	)	PUNCT
bracis-28353	191	13	where	where	SCONJ
bracis-28353	191	14	\(\mathcal	\(\mathcal	ADJ
bracis-28353	191	15	{	{	PUNCT
bracis-28353	191	16	d}\	d}\	PROPN
bracis-28353	191	17	)	)	PUNCT
bracis-28353	191	18	is	be	AUX
bracis-28353	191	19	the	the	DET
bracis-28353	191	20	domain	domain	NOUN
bracis-28353	191	21	in	in	ADP
bracis-28353	191	22	figure	figure	NOUN
bracis-28353	191	23	4a	4a	NUM
bracis-28353	191	24	,	,	PUNCT
bracis-28353	191	25	\(s_0\	\(s_0\	PROPN
bracis-28353	191	26	)	)	PUNCT
bracis-28353	191	27	is	be	AUX
bracis-28353	191	28	the	the	DET
bracis-28353	191	29	initial	initial	ADJ
bracis-28353	191	30	state	state	NOUN
bracis-28353	191	31	and	and	CCONJ
bracis-28353	191	32	the	the	DET
bracis-28353	191	33	goal	goal	NOUN
bracis-28353	191	34	\(\varphi	\(\varphi	PROPN
bracis-28353	191	35	=	=	SYM
bracis-28353	191	36	\lnot	\lnot	INTJ
bracis-28353	191	37	p	p	PRON
bracis-28353	191	38	\wedge	\wedge	PROPN
bracis-28353	191	39	q	q	PROPN
bracis-28353	191	40	\wedge	\wedge	PROPN
bracis-28353	191	41	r\	r\	PROPN
bracis-28353	191	42	)	)	PUNCT
bracis-28353	191	43	is	be	AUX
bracis-28353	191	44	satisfied	satisfied	ADJ
bracis-28353	191	45	in	in	ADP
bracis-28353	191	46	state	state	NOUN
bracis-28353	191	47	\(s_5\	\(s_5\	PROPN
bracis-28353	191	48	)	)	PUNCT
bracis-28353	191	49	.	.	PUNCT
bracis-28353	192	1	the	the	DET
bracis-28353	192	2	non	non	ADJ
bracis-28353	192	3	-	-	ADJ
bracis-28353	192	4	deterministic	deterministic	ADJ
bracis-28353	192	5	actions	action	NOUN
bracis-28353	192	6	are	be	AUX
bracis-28353	192	7	\(a_2\	\(a_2\	PROPN
bracis-28353	192	8	)	)	PUNCT
bracis-28353	192	9	and	and	CCONJ
bracis-28353	192	10	\(a_4\	\(a_4\	NOUN
bracis-28353	192	11	)	)	PUNCT
bracis-28353	192	12	.	.	PUNCT
bracis-28353	193	1	notice	notice	VERB
bracis-28353	193	2	that	that	SCONJ
bracis-28353	193	3	:	:	PUNCT
bracis-28353	193	4	the	the	DET
bracis-28353	193	5	solution	solution	NOUN
bracis-28353	193	6	\(\{(s_0	\(\{(s_0	ADV
bracis-28353	193	7	,	,	PUNCT
bracis-28353	193	8	a_1	a_1	NOUN
bracis-28353	193	9	)	)	PUNCT
bracis-28353	193	10	,	,	PUNCT
bracis-28353	193	11	(	(	PUNCT
bracis-28353	193	12	s_1	s_1	NOUN
bracis-28353	193	13	,	,	PUNCT
bracis-28353	193	14	a_4)\}\	a_4)\}\	NOUN
bracis-28353	193	15	)	)	PUNCT
bracis-28353	193	16	is	be	AUX
bracis-28353	193	17	a	a	DET
bracis-28353	193	18	weak	weak	ADJ
bracis-28353	193	19	policy	policy	NOUN
bracis-28353	193	20	that	that	PRON
bracis-28353	193	21	satisfies	satisfy	VERB
bracis-28353	193	22	the	the	DET
bracis-28353	193	23	preference	preference	NOUN
bracis-28353	193	24	always(p	always(p	PROPN
bracis-28353	193	25	)	)	PUNCT
bracis-28353	193	26	on	on	ADP
bracis-28353	193	27	the	the	DET
bracis-28353	193	28	path	path	NOUN
bracis-28353	193	29	to	to	PART
bracis-28353	193	30	reach	reach	VERB
bracis-28353	193	31	the	the	DET
bracis-28353	193	32	goal	goal	NOUN
bracis-28353	193	33	state	state	NOUN
bracis-28353	193	34	;	;	PUNCT
bracis-28353	193	35	the	the	DET
bracis-28353	193	36	solution	solution	NOUN
bracis-28353	193	37	\((s_0	\((s_0	PROPN
bracis-28353	193	38	,	,	PUNCT
bracis-28353	193	39	a_2	a_2	PROPN
bracis-28353	193	40	)	)	PUNCT
bracis-28353	193	41	,	,	PUNCT
bracis-28353	193	42	(	(	PUNCT
bracis-28353	193	43	s_2	s_2	PROPN
bracis-28353	193	44	,	,	PUNCT
bracis-28353	193	45	a_5	a_5	NOUN
bracis-28353	193	46	)	)	PUNCT
bracis-28353	193	47	,	,	PUNCT
bracis-28353	193	48	(	(	PUNCT
bracis-28353	193	49	s_3,a_7)\	s_3,a_7)\	X
bracis-28353	193	50	)	)	PUNCT
bracis-28353	193	51	is	be	AUX
bracis-28353	193	52	a	a	DET
bracis-28353	193	53	strong	strong	ADJ
bracis-28353	193	54	solution	solution	NOUN
bracis-28353	193	55	that	that	PRON
bracis-28353	193	56	satisfies	satisfy	VERB
bracis-28353	193	57	the	the	DET
bracis-28353	193	58	preference	preference	NOUN
bracis-28353	193	59	always(p	always(p	PROPN
bracis-28353	193	60	)	)	PUNCT
bracis-28353	193	61	on	on	ADP
bracis-28353	193	62	the	the	DET
bracis-28353	193	63	path	path	NOUN
bracis-28353	193	64	to	to	PART
bracis-28353	193	65	reach	reach	VERB
bracis-28353	193	66	the	the	DET
bracis-28353	193	67	goal	goal	NOUN
bracis-28353	193	68	state	state	NOUN
bracis-28353	193	69	;	;	PUNCT
bracis-28353	193	70	the	the	DET
bracis-28353	193	71	solution	solution	NOUN
bracis-28353	193	72	\((s_0	\((s_0	PROPN
bracis-28353	193	73	,	,	PUNCT
bracis-28353	193	74	a_3	a_3	PROPN
bracis-28353	193	75	)	)	PUNCT
bracis-28353	193	76	,	,	PUNCT
bracis-28353	193	77	(	(	PUNCT
bracis-28353	193	78	s_3	s_3	PROPN
bracis-28353	193	79	,	,	PUNCT
bracis-28353	193	80	a_7)\	a_7)\	PROPN
bracis-28353	193	81	)	)	PUNCT
bracis-28353	193	82	is	be	AUX
bracis-28353	193	83	also	also	ADV
bracis-28353	193	84	a	a	DET
bracis-28353	193	85	strong	strong	ADJ
bracis-28353	193	86	solution	solution	NOUN
bracis-28353	193	87	that	that	PRON
bracis-28353	193	88	satisfies	satisfy	VERB
bracis-28353	193	89	the	the	DET
bracis-28353	193	90	preference	preference	NOUN
bracis-28353	193	91	always(p	always(p	PROPN
bracis-28353	193	92	)	)	PUNCT
bracis-28353	193	93	.	.	PUNCT
bracis-28353	194	1	4.1	4.1	NUM
bracis-28353	194	2	specifying	specify	VERB
bracis-28353	194	3	the	the	DET
bracis-28353	194	4	 	 	SPACE
bracis-28353	194	5	always	always	ADV
bracis-28353	194	6	preference	preference	NOUN
bracis-28353	194	7	for	for	ADP
bracis-28353	194	8	 	 	SPACE
bracis-28353	194	9	weak	weak	ADJ
bracis-28353	194	10	policies	policy	NOUN
bracis-28353	194	11	weak	weak	ADJ
bracis-28353	194	12	policies	policy	NOUN
bracis-28353	194	13	can	can	AUX
bracis-28353	194	14	reach	reach	VERB
bracis-28353	194	15	a	a	DET
bracis-28353	194	16	goal	goal	NOUN
bracis-28353	194	17	state	state	NOUN
bracis-28353	194	18	,	,	PUNCT
bracis-28353	194	19	but	but	CCONJ
bracis-28353	194	20	there	there	PRON
bracis-28353	194	21	is	be	VERB
bracis-28353	194	22	no	no	DET
bracis-28353	194	23	guarantee	guarantee	NOUN
bracis-28353	194	24	due	due	ADP
bracis-28353	194	25	to	to	ADP
bracis-28353	194	26	the	the	DET
bracis-28353	194	27	non	non	NOUN
bracis-28353	194	28	-	-	NOUN
bracis-28353	194	29	determinism	determinism	NOUN
bracis-28353	194	30	of	of	ADP
bracis-28353	194	31	actions	action	NOUN
bracis-28353	194	32	.	.	PUNCT
bracis-28353	195	1	in	in	ADP
bracis-28353	195	2	this	this	DET
bracis-28353	195	3	section	section	NOUN
bracis-28353	195	4	,	,	PUNCT
bracis-28353	195	5	we	we	PRON
bracis-28353	195	6	define	define	VERB
bracis-28353	195	7	the	the	DET
bracis-28353	195	8	qualitative	qualitative	ADJ
bracis-28353	195	9	preference	preference	NOUN
bracis-28353	195	10	\(\texttt	\(\texttt	NOUN
bracis-28353	195	11	{	{	PUNCT
bracis-28353	195	12	always}\	always}\	PROPN
bracis-28353	195	13	)	)	PUNCT
bracis-28353	195	14	for	for	ADP
bracis-28353	195	15	weak	weak	ADJ
bracis-28353	195	16	policies	policy	NOUN
bracis-28353	195	17	and	and	CCONJ
bracis-28353	195	18	present	present	VERB
bracis-28353	195	19	an	an	DET
bracis-28353	195	20	\(\alpha	\(\alpha	ADJ
bracis-28353	195	21	\)-ctl	\)-ctl	NOUN
bracis-28353	195	22	formula	formula	NOUN
bracis-28353	195	23	for	for	ADP
bracis-28353	195	24	it	it	PRON
bracis-28353	195	25	.	.	PUNCT
bracis-28353	196	1	definition	definition	NOUN
bracis-28353	196	2	13	13	NUM
bracis-28353	196	3	(	(	PUNCT
bracis-28353	196	4	preference	preference	NOUN
bracis-28353	196	5	always	always	ADV
bracis-28353	196	6	for	for	ADP
bracis-28353	196	7	weak	weak	ADJ
bracis-28353	196	8	policies	policy	NOUN
bracis-28353	196	9	)	)	PUNCT
bracis-28353	196	10	.	.	PUNCT
bracis-28353	197	1	let	let	VERB
bracis-28353	197	2	\(p=\langle	\(p=\langle	NUM
bracis-28353	197	3	\mathcal	\mathcal	ADJ
bracis-28353	197	4	{	{	PUNCT
bracis-28353	197	5	d	d	NOUN
bracis-28353	197	6	}	}	PUNCT
bracis-28353	197	7	,	,	PUNCT
bracis-28353	197	8	s_{0	s_{0	PROPN
bracis-28353	197	9	}	}	PUNCT
bracis-28353	197	10	,	,	PUNCT
bracis-28353	197	11	\varphi	\varphi	ADP
bracis-28353	197	12	\rangle	\rangle	PROPN
bracis-28353	197	13	\	\	NOUN
bracis-28353	197	14	)	)	PUNCT
bracis-28353	197	15	be	be	AUX
bracis-28353	197	16	a	a	DET
bracis-28353	197	17	non	non	ADJ
bracis-28353	197	18	-	-	ADJ
bracis-28353	197	19	deterministic	deterministic	ADJ
bracis-28353	197	20	planning	planning	NOUN
bracis-28353	197	21	problem	problem	NOUN
bracis-28353	197	22	,	,	PUNCT
bracis-28353	197	23	\(\pi	\(\pi	PROPN
bracis-28353	197	24	\	\	NOUN
bracis-28353	197	25	)	)	PUNCT
bracis-28353	197	26	a	a	DET
bracis-28353	197	27	weak	weak	ADJ
bracis-28353	197	28	policy	policy	NOUN
bracis-28353	197	29	for	for	ADP
bracis-28353	197	30	p	p	NOUN
bracis-28353	197	31	,	,	PUNCT
bracis-28353	197	32	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	197	33	{	{	PUNCT
bracis-28353	197	34	d}[\pi	d}[\pi	PROPN
bracis-28353	197	35	]	]	PUNCT
bracis-28353	197	36	}	}	PUNCT
bracis-28353	197	37	\	\	NOUN
bracis-28353	197	38	)	)	PUNCT
bracis-28353	198	1	the	the	DET
bracis-28353	198	2	execution	execution	NOUN
bracis-28353	198	3	structure	structure	NOUN
bracis-28353	198	4	induced	induce	VERB
bracis-28353	198	5	by	by	ADP
bracis-28353	198	6	weak	weak	ADJ
bracis-28353	198	7	policy	policy	NOUN
bracis-28353	198	8	\(\pi	\(\pi	ADP
bracis-28353	198	9	\	\	NOUN
bracis-28353	198	10	)	)	PUNCT
bracis-28353	198	11	.	.	PUNCT
bracis-28353	199	1	the	the	DET
bracis-28353	199	2	preference	preference	NOUN
bracis-28353	199	3	always(p	always(p	PROPN
bracis-28353	199	4	)	)	PUNCT
bracis-28353	199	5	(	(	PUNCT
bracis-28353	199	6	\(p	\(p	PROPN
bracis-28353	199	7	\in	\in	PROPN
bracis-28353	199	8	\mathbb	\mathbb	PROPN
bracis-28353	199	9	{	{	PUNCT
bracis-28353	199	10	p}\	p}\	NOUN
bracis-28353	199	11	)	)	PUNCT
bracis-28353	199	12	)	)	PUNCT
bracis-28353	199	13	for	for	ADP
bracis-28353	199	14	a	a	DET
bracis-28353	199	15	weak	weak	ADJ
bracis-28353	199	16	policy	policy	NOUN
bracis-28353	199	17	is	be	AUX
bracis-28353	199	18	satisfied	satisfied	ADJ
bracis-28353	199	19	in	in	ADP
bracis-28353	199	20	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	199	21	{	{	PUNCT
bracis-28353	199	22	d}[\pi	d}[\pi	PROPN
bracis-28353	199	23	]	]	PUNCT
bracis-28353	199	24	}	}	PUNCT
bracis-28353	199	25	\	\	NOUN
bracis-28353	199	26	)	)	PUNCT
bracis-28353	199	27	iff	iff	NOUN
bracis-28353	199	28	there	there	PRON
bracis-28353	199	29	is	be	VERB
bracis-28353	199	30	some	some	DET
bracis-28353	199	31	execution	execution	NOUN
bracis-28353	199	32	path	path	NOUN
bracis-28353	199	33	\(\mathcal	\(\mathcal	ADJ
bracis-28353	199	34	{	{	PUNCT
bracis-28353	199	35	p}_{\pi	p}_{\pi	NOUN
bracis-28353	199	36	}	}	PUNCT
bracis-28353	199	37	\	\	NOUN
bracis-28353	199	38	)	)	PUNCT
bracis-28353	199	39	where	where	SCONJ
bracis-28353	199	40	\(\forall	\(\forall	ADV
bracis-28353	199	41	k	k	X
bracis-28353	199	42	,	,	PUNCT
bracis-28353	199	43	0	0	NUM
bracis-28353	199	44	\le	\le	PROPN
bracis-28353	199	45	k	k	PROPN
bracis-28353	199	46	\le	\le	PROPN
bracis-28353	199	47	i-1\	i-1\	PROPN
bracis-28353	199	48	)	)	PUNCT
bracis-28353	199	49	,	,	PUNCT
bracis-28353	199	50	\(s_{k	\(s_{k	NOUN
bracis-28353	199	51	}	}	PUNCT
bracis-28353	199	52	\in	\in	PROPN
bracis-28353	199	53	\mathcal	\mathcal	PROPN
bracis-28353	199	54	{	{	PUNCT
bracis-28353	199	55	p}_\pi	p}_\pi	NOUN
bracis-28353	199	56	\	\	NOUN
bracis-28353	199	57	)	)	PUNCT
bracis-28353	199	58	and	and	CCONJ
bracis-28353	199	59	.	.	PUNCT
bracis-28353	200	1	definition	definition	NOUN
bracis-28353	200	2	14	14	NUM
bracis-28353	200	3	(	(	PUNCT
bracis-28353	200	4	specifying	specify	VERB
bracis-28353	200	5	the	the	DET
bracis-28353	200	6	always	always	ADJ
bracis-28353	200	7	preference	preference	NOUN
bracis-28353	200	8	for	for	ADP
bracis-28353	200	9	weak	weak	ADJ
bracis-28353	200	10	policies	policy	NOUN
bracis-28353	200	11	in	in	ADP
bracis-28353	200	12	\(\alpha	\(\alpha	NOUN
bracis-28353	200	13	\	\	NOUN
bracis-28353	200	14	)	)	PUNCT
bracis-28353	200	15	-ctl	-ctl	NUM
bracis-28353	200	16	)	)	PUNCT
bracis-28353	200	17	.	.	PUNCT
bracis-28353	201	1	let	let	VERB
bracis-28353	201	2	\(p=\langle	\(p=\langle	NUM
bracis-28353	201	3	\mathcal	\mathcal	ADJ
bracis-28353	201	4	{	{	PUNCT
bracis-28353	201	5	d	d	NOUN
bracis-28353	201	6	}	}	PUNCT
bracis-28353	201	7	,	,	PUNCT
bracis-28353	201	8	s_{0	s_{0	PROPN
bracis-28353	201	9	}	}	PUNCT
bracis-28353	201	10	,	,	PUNCT
bracis-28353	201	11	\varphi	\varphi	ADP
bracis-28353	201	12	\rangle	\rangle	PROPN
bracis-28353	201	13	\	\	NOUN
bracis-28353	201	14	)	)	PUNCT
bracis-28353	201	15	be	be	AUX
bracis-28353	201	16	a	a	DET
bracis-28353	201	17	non	non	ADJ
bracis-28353	201	18	-	-	ADJ
bracis-28353	201	19	deterministic	deterministic	ADJ
bracis-28353	201	20	planning	planning	NOUN
bracis-28353	201	21	problem	problem	NOUN
bracis-28353	201	22	with	with	ADP
bracis-28353	201	23	signature	signature	NOUN
bracis-28353	201	24	\((\mathbb	\((\mathbb	NOUN
bracis-28353	201	25	{	{	PUNCT
bracis-28353	201	26	p	p	NOUN
bracis-28353	201	27	}	}	PUNCT
bracis-28353	201	28	,	,	PUNCT
bracis-28353	201	29	\mathbb	\mathbb	PROPN
bracis-28353	201	30	{	{	PUNCT
bracis-28353	201	31	a})\	a})\	PROPN
bracis-28353	201	32	)	)	PUNCT
bracis-28353	201	33	and	and	CCONJ
bracis-28353	201	34	always(p	always(p	NOUN
bracis-28353	201	35	)	)	PUNCT
bracis-28353	201	36	\((p\in	\((p\in	PUNCT
bracis-28353	201	37	\mathbb	\mathbb	PROPN
bracis-28353	201	38	{	{	PUNCT
bracis-28353	201	39	p})\	p})\	X
bracis-28353	201	40	)	)	PUNCT
bracis-28353	201	41	a	a	DET
bracis-28353	201	42	preference	preference	NOUN
bracis-28353	201	43	over	over	ADP
bracis-28353	201	44	p.	p.	NOUN
bracis-28353	201	45	this	this	DET
bracis-28353	201	46	preference	preference	NOUN
bracis-28353	201	47	for	for	ADP
bracis-28353	201	48	a	a	DET
bracis-28353	201	49	weak	weak	ADJ
bracis-28353	201	50	policy	policy	NOUN
bracis-28353	201	51	can	can	AUX
bracis-28353	201	52	be	be	AUX
bracis-28353	201	53	expressed	express	VERB
bracis-28353	201	54	using	use	VERB
bracis-28353	201	55	the	the	DET
bracis-28353	201	56	following	follow	VERB
bracis-28353	201	57	\(\alpha	\(\alpha	NOUN
bracis-28353	201	58	-\)ctl	-\)ctl	NOUN
bracis-28353	201	59	formula	formula	NOUN
bracis-28353	201	60	:	:	PUNCT
bracis-28353	201	61	                                           	                                           	SPACE
bracis-28353	201	62	.	.	PUNCT
bracis-28353	202	1	to	to	PART
bracis-28353	202	2	prove	prove	VERB
bracis-28353	202	3	that	that	SCONJ
bracis-28353	202	4	the	the	DET
bracis-28353	202	5	\(\alpha	\(\alpha	ADJ
bracis-28353	202	6	\)-ctl	\)-ctl	NOUN
bracis-28353	202	7	formula	formula	NOUN
bracis-28353	202	8	specifies	specify	VERB
bracis-28353	202	9	the	the	DET
bracis-28353	202	10	always(p	always(p	NOUN
bracis-28353	202	11	)	)	PUNCT
bracis-28353	202	12	preference	preference	NOUN
bracis-28353	202	13	for	for	ADP
bracis-28353	202	14	a	a	DET
bracis-28353	202	15	weak	weak	ADJ
bracis-28353	202	16	solution	solution	NOUN
bracis-28353	202	17	\(\pi	\(\pi	ADP
bracis-28353	202	18	\	\	NOUN
bracis-28353	202	19	)	)	PUNCT
bracis-28353	202	20	for	for	ADP
bracis-28353	202	21	a	a	DET
bracis-28353	202	22	planning	planning	NOUN
bracis-28353	202	23	problem	problem	NOUN
bracis-28353	202	24	\(p	\(p	NOUN
bracis-28353	203	1	=	=	PUNCT
bracis-28353	203	2	\langle	\langle	PROPN
bracis-28353	203	3	\mathcal	\mathcal	PROPN
bracis-28353	203	4	{	{	PUNCT
bracis-28353	203	5	d	d	NOUN
bracis-28353	203	6	}	}	PUNCT
bracis-28353	203	7	,	,	PUNCT
bracis-28353	203	8	s_0	s_0	ADJ
bracis-28353	203	9	,	,	PUNCT
bracis-28353	203	10	\varphi	\varphi	ADP
bracis-28353	203	11	\rangle	\rangle	NOUN
bracis-28353	203	12	\	\	NOUN
bracis-28353	203	13	)	)	PUNCT
bracis-28353	203	14	we	we	PRON
bracis-28353	203	15	must	must	AUX
bracis-28353	203	16	show	show	VERB
bracis-28353	203	17	that	that	SCONJ
bracis-28353	203	18	it	it	PRON
bracis-28353	203	19	is	be	AUX
bracis-28353	203	20	possible	possible	ADJ
bracis-28353	203	21	to	to	PART
bracis-28353	203	22	obtain	obtain	VERB
bracis-28353	203	23	a	a	DET
bracis-28353	203	24	submodel	submodel	NOUN
bracis-28353	203	25	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	203	26	{	{	PUNCT
bracis-28353	203	27	d}[\pi	d}[\pi	PROPN
bracis-28353	203	28	]	]	PUNCT
bracis-28353	203	29	}	}	PUNCT
bracis-28353	203	30	\subseteq	\subseteq	PROPN
bracis-28353	203	31	\mathcal	\mathcal	PROPN
bracis-28353	203	32	{	{	PUNCT
bracis-28353	203	33	d}\	d}\	PROPN
bracis-28353	203	34	)	)	PUNCT
bracis-28353	203	35	induced	induce	VERB
bracis-28353	203	36	by	by	ADP
bracis-28353	203	37	\(\pi	\(\pi	PROPN
bracis-28353	203	38	\	\	NOUN
bracis-28353	203	39	)	)	PUNCT
bracis-28353	203	40	,	,	PUNCT
bracis-28353	203	41	where	where	SCONJ
bracis-28353	203	42	:	:	PUNCT
bracis-28353	203	43	(	(	PUNCT
bracis-28353	203	44	1	1	X
bracis-28353	203	45	)	)	PUNCT
bracis-28353	203	46	\(s_0	\(s_0	PROPN
bracis-28353	203	47	\in	\in	PROPN
bracis-28353	203	48	s_{\mathcal	s_{\mathcal	X
bracis-28353	203	49	{	{	PUNCT
bracis-28353	203	50	d}[\pi	d}[\pi	PROPN
bracis-28353	203	51	]	]	PUNCT
bracis-28353	203	52	}	}	PUNCT
bracis-28353	203	53	\	\	NOUN
bracis-28353	203	54	)	)	PUNCT
bracis-28353	203	55	;	;	PUNCT
bracis-28353	203	56	(	(	PUNCT
bracis-28353	203	57	2	2	X
bracis-28353	203	58	)	)	PUNCT
bracis-28353	203	59	there	there	PRON
bracis-28353	203	60	is	be	VERB
bracis-28353	203	61	an	an	DET
bracis-28353	203	62	execution	execution	NOUN
bracis-28353	203	63	path	path	NOUN
bracis-28353	203	64	\(\mathcal	\(\mathcal	ADJ
bracis-28353	203	65	{	{	PUNCT
bracis-28353	203	66	p}_{\pi	p}_{\pi	NOUN
bracis-28353	203	67	}	}	SYM
bracis-28353	203	68	\in	\in	PROPN
bracis-28353	203	69	s_{\mathcal	s_{\mathcal	X
bracis-28353	203	70	{	{	PUNCT
bracis-28353	203	71	d}[\pi	d}[\pi	PROPN
bracis-28353	203	72	]	]	PUNCT
bracis-28353	203	73	}	}	PUNCT
bracis-28353	203	74	\	\	NOUN
bracis-28353	203	75	)	)	PUNCT
bracis-28353	203	76	that	that	PRON
bracis-28353	203	77	reaches	reach	VERB
bracis-28353	203	78	the	the	DET
bracis-28353	203	79	goal	goal	NOUN
bracis-28353	203	80	state	state	NOUN
bracis-28353	203	81	,	,	PUNCT
bracis-28353	203	82	from	from	ADP
bracis-28353	203	83	the	the	DET
bracis-28353	203	84	initial	initial	ADJ
bracis-28353	203	85	state	state	NOUN
bracis-28353	203	86	\(s_0\	\(s_0\	PROPN
bracis-28353	203	87	)	)	PUNCT
bracis-28353	203	88	,	,	PUNCT
bracis-28353	203	89	and	and	CCONJ
bracis-28353	203	90	\(\forall	\(\forall	ADV
bracis-28353	203	91	k	k	X
bracis-28353	203	92	,	,	PUNCT
bracis-28353	203	93	0	0	NUM
bracis-28353	203	94	\le	\le	PROPN
bracis-28353	203	95	k	k	PROPN
bracis-28353	203	96	\le	\le	PROPN
bracis-28353	203	97	i-1\	i-1\	PROPN
bracis-28353	203	98	)	)	PUNCT
bracis-28353	203	99	,	,	PUNCT
bracis-28353	203	100	\	\	PROPN
bracis-28353	203	101	(	(	PUNCT
bracis-28353	203	102	s_{k	s_{k	NOUN
bracis-28353	203	103	}	}	PUNCT
bracis-28353	203	104	\in	\in	PROPN
bracis-28353	203	105	{	{	PUNCT
bracis-28353	203	106	\mathcal	\mathcal	ADJ
bracis-28353	203	107	{	{	PUNCT
bracis-28353	203	108	p}_\pi	p}_\pi	NOUN
bracis-28353	203	109	}	}	PUNCT
bracis-28353	203	110	\	\	NOUN
bracis-28353	203	111	)	)	PUNCT
bracis-28353	203	112	and	and	CCONJ
bracis-28353	203	113	.	.	PUNCT
bracis-28353	204	1	proof	proof	NOUN
bracis-28353	204	2	consider	consider	VERB
bracis-28353	204	3	the	the	DET
bracis-28353	204	4	non	non	ADJ
bracis-28353	204	5	-	-	ADJ
bracis-28353	204	6	deterministic	deterministic	ADJ
bracis-28353	204	7	planning	planning	NOUN
bracis-28353	204	8	problem	problem	NOUN
bracis-28353	204	9	\(p	\(p	X
bracis-28353	204	10	=	=	PUNCT
bracis-28353	205	1	<	<	X
bracis-28353	205	2	\mathcal	\mathcal	PROPN
bracis-28353	205	3	{	{	PUNCT
bracis-28353	205	4	d	d	NOUN
bracis-28353	205	5	}	}	PUNCT
bracis-28353	205	6	,	,	PUNCT
bracis-28353	205	7	s_0	s_0	ADJ
bracis-28353	205	8	,	,	PUNCT
bracis-28353	205	9	\varphi	\varphi	PROPN
bracis-28353	205	10	>	>	X
bracis-28353	205	11	\	\	PROPN
bracis-28353	205	12	)	)	PUNCT
bracis-28353	205	13	.	.	PUNCT
bracis-28353	206	1	assume	assume	VERB
bracis-28353	206	2	that	that	PRON
bracis-28353	206	3	.	.	PUNCT
bracis-28353	207	1	according	accord	VERB
bracis-28353	207	2	to	to	ADP
bracis-28353	207	3	\(\alpha	\(\alpha	X
bracis-28353	207	4	\)-ctl	\)-ctl	NOUN
bracis-28353	207	5	semantics	semantic	NOUN
bracis-28353	207	6	,	,	PUNCT
bracis-28353	207	7	there	there	PRON
bracis-28353	207	8	is	be	VERB
bracis-28353	207	9	an	an	DET
bracis-28353	207	10	action	action	NOUN
bracis-28353	207	11	\(a	\(a	NOUN
bracis-28353	207	12	\in	\in	PROPN
bracis-28353	207	13	\mathbb	\mathbb	PROPN
bracis-28353	207	14	{	{	PUNCT
bracis-28353	207	15	a}\	a}\	NUM
bracis-28353	207	16	)	)	PUNCT
bracis-28353	207	17	such	such	ADJ
bracis-28353	207	18	that	that	SCONJ
bracis-28353	207	19	,	,	PUNCT
bracis-28353	207	20	for	for	ADP
bracis-28353	207	21	a	a	DET
bracis-28353	207	22	path	path	NOUN
bracis-28353	207	23	\(\mathcal	\(\mathcal	ADJ
bracis-28353	207	24	{	{	PUNCT
bracis-28353	207	25	p}_\pi	p}_\pi	NOUN
bracis-28353	207	26	\	\	NOUN
bracis-28353	207	27	)	)	PUNCT
bracis-28353	207	28	started	start	VERB
bracis-28353	207	29	at	at	ADP
bracis-28353	207	30	\(s_0\	\(s_0\	PROPN
bracis-28353	207	31	)	)	PUNCT
bracis-28353	207	32	there	there	PRON
bracis-28353	207	33	is	be	VERB
bracis-28353	207	34	a	a	DET
bracis-28353	207	35	state	state	NOUN
bracis-28353	207	36	\(s_i\	\(s_i\	NOUN
bracis-28353	207	37	)	)	PUNCT
bracis-28353	207	38	(	(	PUNCT
bracis-28353	207	39	for	for	ADP
bracis-28353	207	40	\(s_i	\(s_i	ADV
bracis-28353	207	41	\ge	\ge	PROPN
bracis-28353	207	42	0\	0\	PROPN
bracis-28353	207	43	)	)	PUNCT
bracis-28353	207	44	)	)	PUNCT
bracis-28353	207	45	along	along	ADP
bracis-28353	207	46	this	this	DET
bracis-28353	207	47	path	path	NOUN
bracis-28353	207	48	such	such	ADJ
bracis-28353	207	49	that	that	PRON
bracis-28353	207	50	and	and	CCONJ
bracis-28353	207	51	,	,	PUNCT
bracis-28353	207	52	for	for	ADP
bracis-28353	207	53	every	every	DET
bracis-28353	207	54	\(0	\(0	PROPN
bracis-28353	207	55	\le	\le	PROPN
bracis-28353	207	56	k	k	X
bracis-28353	207	57	<	<	X
bracis-28353	207	58	i\	i\	PROPN
bracis-28353	207	59	)	)	PUNCT
bracis-28353	207	60	,	,	PUNCT
bracis-28353	207	61	we	we	PRON
bracis-28353	207	62	have	have	VERB
bracis-28353	207	63	.	.	PUNCT
bracis-28353	208	1	then	then	ADV
bracis-28353	208	2	there	there	PRON
bracis-28353	208	3	is	be	VERB
bracis-28353	208	4	an	an	DET
bracis-28353	208	5	execution	execution	NOUN
bracis-28353	208	6	path	path	NOUN
bracis-28353	208	7	for	for	ADP
bracis-28353	208	8	a	a	DET
bracis-28353	208	9	policy	policy	NOUN
bracis-28353	208	10	\(\pi	\(\pi	ADP
bracis-28353	208	11	\),i.e	\),i.e	NUM
bracis-28353	208	12	.	.	PUNCT
bracis-28353	209	1	,	,	PUNCT
bracis-28353	209	2	that	that	PRON
bracis-28353	209	3	lead	lead	VERB
bracis-28353	209	4	the	the	DET
bracis-28353	209	5	goal	goal	NOUN
bracis-28353	209	6	\(\varphi	\(\varphi	PUNCT
bracis-28353	209	7	\	\	NUM
bracis-28353	209	8	)	)	PUNCT
bracis-28353	209	9	.	.	PUNCT
bracis-28353	210	1	consequently	consequently	ADV
bracis-28353	210	2	,	,	PUNCT
bracis-28353	210	3	there	there	PRON
bracis-28353	210	4	is	be	VERB
bracis-28353	210	5	an	an	DET
bracis-28353	210	6	execution	execution	NOUN
bracis-28353	210	7	structure	structure	NOUN
bracis-28353	210	8	\(s_{\mathcal	\(s_{\mathcal	NOUN
bracis-28353	210	9	{	{	PUNCT
bracis-28353	210	10	d}[\pi	d}[\pi	PROPN
bracis-28353	210	11	]	]	PUNCT
bracis-28353	210	12	}	}	PUNCT
bracis-28353	210	13	\	\	NOUN
bracis-28353	210	14	)	)	PUNCT
bracis-28353	210	15	induced	induce	VERB
bracis-28353	210	16	by	by	ADP
bracis-28353	210	17	the	the	DET
bracis-28353	210	18	policy	policy	NOUN
bracis-28353	210	19	\(\pi	\(\pi	ADP
bracis-28353	210	20	\	\	NOUN
bracis-28353	210	21	)	)	PUNCT
bracis-28353	211	1	(	(	PUNCT
bracis-28353	211	2	definition	definition	NOUN
bracis-28353	211	3	5	5	NUM
bracis-28353	211	4	)	)	PUNCT
bracis-28353	211	5	such	such	ADJ
bracis-28353	211	6	that	that	SCONJ
bracis-28353	211	7	\(\mathcal	\(\mathcal	ADJ
bracis-28353	211	8	{	{	PUNCT
bracis-28353	211	9	p}_\pi	p}_\pi	NOUN
bracis-28353	211	10	\in	\in	PROPN
bracis-28353	211	11	s_{\mathcal	s_{\mathcal	X
bracis-28353	211	12	{	{	PUNCT
bracis-28353	211	13	d}[\pi	d}[\pi	PROPN
bracis-28353	211	14	]	]	PUNCT
bracis-28353	211	15	}	}	PUNCT
bracis-28353	211	16	\	\	NOUN
bracis-28353	211	17	)	)	PUNCT
bracis-28353	211	18	.	.	PUNCT
bracis-28353	212	1	thus	thus	ADV
bracis-28353	212	2	,	,	PUNCT
bracis-28353	212	3	we	we	PRON
bracis-28353	212	4	have	have	VERB
bracis-28353	212	5	\(s_0	\(s_0	PROPN
bracis-28353	212	6	\in	\in	PROPN
bracis-28353	212	7	s_{\mathcal	s_{\mathcal	X
bracis-28353	212	8	{	{	PUNCT
bracis-28353	212	9	d}[\pi	d}[\pi	PROPN
bracis-28353	212	10	]	]	PUNCT
bracis-28353	212	11	}	}	PUNCT
bracis-28353	212	12	\	\	NOUN
bracis-28353	212	13	)	)	PUNCT
bracis-28353	212	14	,	,	PUNCT
bracis-28353	212	15	satisfying	satisfy	VERB
bracis-28353	212	16	condition	condition	NOUN
bracis-28353	212	17	1	1	NUM
bracis-28353	212	18	.	.	PUNCT
bracis-28353	213	1	since	since	SCONJ
bracis-28353	213	2	there	there	PRON
bracis-28353	213	3	is	be	VERB
bracis-28353	213	4	a	a	DET
bracis-28353	213	5	\(\mathcal	\(\mathcal	ADJ
bracis-28353	213	6	{	{	PUNCT
bracis-28353	213	7	p}_\pi	p}_\pi	NOUN
bracis-28353	213	8	\in	\in	PROPN
bracis-28353	213	9	s_{\mathcal	s_{\mathcal	X
bracis-28353	213	10	{	{	PUNCT
bracis-28353	213	11	d}[\pi	d}[\pi	PROPN
bracis-28353	213	12	]	]	PUNCT
bracis-28353	213	13	}	}	PUNCT
bracis-28353	213	14	\	\	NOUN
bracis-28353	213	15	)	)	PUNCT
bracis-28353	213	16	,	,	PUNCT
bracis-28353	213	17	which	which	PRON
bracis-28353	213	18	reaches	reach	VERB
bracis-28353	213	19	the	the	DET
bracis-28353	213	20	goal	goal	NOUN
bracis-28353	213	21	state	state	NOUN
bracis-28353	213	22	,	,	PUNCT
bracis-28353	213	23	from	from	ADP
bracis-28353	213	24	the	the	DET
bracis-28353	213	25	initial	initial	ADJ
bracis-28353	213	26	state	state	NOUN
bracis-28353	213	27	\(s_0\	\(s_0\	PROPN
bracis-28353	213	28	)	)	PUNCT
bracis-28353	213	29	and	and	CCONJ
bracis-28353	213	30	\(\forall	\(\forall	ADV
bracis-28353	213	31	k	k	X
bracis-28353	213	32	,	,	PUNCT
bracis-28353	213	33	0	0	NUM
bracis-28353	213	34	\le	\le	PUNCT
bracis-28353	213	35	k	k	X
bracis-28353	213	36	<	<	X
bracis-28353	213	37	i\	i\	PROPN
bracis-28353	213	38	)	)	PUNCT
bracis-28353	213	39	,	,	PUNCT
bracis-28353	213	40	\	\	PROPN
bracis-28353	213	41	(	(	PUNCT
bracis-28353	213	42	s_{k	s_{k	NOUN
bracis-28353	213	43	}	}	PUNCT
bracis-28353	213	44	\in	\in	PROPN
bracis-28353	213	45	{	{	PUNCT
bracis-28353	213	46	\mathcal	\mathcal	ADJ
bracis-28353	213	47	{	{	PUNCT
bracis-28353	213	48	p}_\pi	p}_\pi	NOUN
bracis-28353	213	49	}	}	PUNCT
bracis-28353	213	50	\	\	NOUN
bracis-28353	213	51	)	)	PUNCT
bracis-28353	213	52	we	we	PRON
bracis-28353	213	53	have	have	VERB
bracis-28353	213	54	,	,	PUNCT
bracis-28353	213	55	the	the	DET
bracis-28353	213	56	condition	condition	NOUN
bracis-28353	213	57	2	2	NUM
bracis-28353	213	58	is	be	AUX
bracis-28353	213	59	satisfied	satisfied	ADJ
bracis-28353	213	60	.	.	PUNCT
bracis-28353	214	1	4.2	4.2	NUM
bracis-28353	214	2	specifying	specify	VERB
bracis-28353	214	3	the	the	DET
bracis-28353	214	4	 	 	SPACE
bracis-28353	214	5	always	always	ADV
bracis-28353	214	6	preference	preference	NOUN
bracis-28353	214	7	for	for	ADP
bracis-28353	214	8	 	 	SPACE
bracis-28353	214	9	strong	strong	ADJ
bracis-28353	214	10	policies	policy	NOUN
bracis-28353	214	11	strong	strong	ADJ
bracis-28353	214	12	policies	policy	NOUN
bracis-28353	214	13	guarantees	guarantee	VERB
bracis-28353	214	14	that	that	SCONJ
bracis-28353	214	15	all	all	DET
bracis-28353	214	16	sequences	sequence	NOUN
bracis-28353	214	17	of	of	ADP
bracis-28353	214	18	states	state	NOUN
bracis-28353	214	19	,	,	PUNCT
bracis-28353	214	20	obtained	obtain	VERB
bracis-28353	214	21	after	after	ADP
bracis-28353	214	22	execution	execution	NOUN
bracis-28353	214	23	of	of	ADP
bracis-28353	214	24	the	the	DET
bracis-28353	214	25	policy	policy	NOUN
bracis-28353	214	26	,	,	PUNCT
bracis-28353	214	27	reach	reach	VERB
bracis-28353	214	28	the	the	DET
bracis-28353	214	29	goal	goal	NOUN
bracis-28353	214	30	.	.	PUNCT
bracis-28353	215	1	in	in	ADP
bracis-28353	215	2	this	this	DET
bracis-28353	215	3	section	section	NOUN
bracis-28353	215	4	we	we	PRON
bracis-28353	215	5	define	define	VERB
bracis-28353	215	6	how	how	SCONJ
bracis-28353	215	7	one	one	PRON
bracis-28353	215	8	can	can	AUX
bracis-28353	215	9	obtain	obtain	VERB
bracis-28353	215	10	a	a	DET
bracis-28353	215	11	strong	strong	ADJ
bracis-28353	215	12	solution	solution	NOUN
bracis-28353	215	13	for	for	ADP
bracis-28353	215	14	a	a	DET
bracis-28353	215	15	non	non	ADJ
bracis-28353	215	16	-	-	ADJ
bracis-28353	215	17	deterministic	deterministic	ADJ
bracis-28353	215	18	planning	planning	NOUN
bracis-28353	215	19	problem	problem	NOUN
bracis-28353	215	20	with	with	ADP
bracis-28353	215	21	\(\texttt	\(\texttt	NOUN
bracis-28353	215	22	{	{	PUNCT
bracis-28353	215	23	always}\	always}\	NOUN
bracis-28353	215	24	)	)	PUNCT
bracis-28353	215	25	preference	preference	NOUN
bracis-28353	215	26	.	.	PUNCT
bracis-28353	216	1	definition	definition	NOUN
bracis-28353	216	2	15	15	NUM
bracis-28353	216	3	(	(	PUNCT
bracis-28353	216	4	preference	preference	NOUN
bracis-28353	216	5	always	always	ADV
bracis-28353	216	6	for	for	ADP
bracis-28353	216	7	strong	strong	ADJ
bracis-28353	216	8	policies	policy	NOUN
bracis-28353	216	9	)	)	PUNCT
bracis-28353	216	10	.	.	PUNCT
bracis-28353	217	1	let	let	AUX
bracis-28353	217	2	be	be	AUX
bracis-28353	217	3	\(p=\langle	\(p=\langle	VERB
bracis-28353	217	4	\mathcal	\mathcal	ADJ
bracis-28353	217	5	{	{	PUNCT
bracis-28353	217	6	d	d	NOUN
bracis-28353	217	7	}	}	PUNCT
bracis-28353	217	8	,	,	PUNCT
bracis-28353	217	9	s_{0	s_{0	PROPN
bracis-28353	217	10	}	}	PUNCT
bracis-28353	217	11	,	,	PUNCT
bracis-28353	217	12	\varphi	\varphi	ADP
bracis-28353	217	13	\rangle	\rangle	NOUN
bracis-28353	217	14	\	\	NOUN
bracis-28353	217	15	)	)	PUNCT
bracis-28353	217	16	a	a	DET
bracis-28353	217	17	non	non	ADJ
bracis-28353	217	18	-	-	ADJ
bracis-28353	217	19	deterministic	deterministic	ADJ
bracis-28353	217	20	planning	planning	NOUN
bracis-28353	217	21	problem	problem	NOUN
bracis-28353	217	22	with	with	ADP
bracis-28353	217	23	signature	signature	NOUN
bracis-28353	217	24	\((\mathbb	\((\mathbb	NOUN
bracis-28353	217	25	{	{	PUNCT
bracis-28353	217	26	p}\	p}\	NUM
bracis-28353	217	27	)	)	PUNCT
bracis-28353	217	28	,	,	PUNCT
bracis-28353	217	29	\(\mathbb	\(\mathbb	X
bracis-28353	217	30	{	{	PUNCT
bracis-28353	217	31	a})\	a})\	PROPN
bracis-28353	217	32	)	)	PUNCT
bracis-28353	217	33	,	,	PUNCT
bracis-28353	217	34	\(\pi	\(\pi	PROPN
bracis-28353	217	35	\	\	NOUN
bracis-28353	217	36	)	)	PUNCT
bracis-28353	217	37	a	a	DET
bracis-28353	217	38	strong	strong	ADJ
bracis-28353	217	39	policy	policy	NOUN
bracis-28353	217	40	for	for	ADP
bracis-28353	217	41	p	p	NOUN
bracis-28353	217	42	,	,	PUNCT
bracis-28353	217	43	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	217	44	{	{	PUNCT
bracis-28353	217	45	d}[\pi	d}[\pi	PROPN
bracis-28353	217	46	]	]	PUNCT
bracis-28353	217	47	}	}	PUNCT
bracis-28353	217	48	\	\	NOUN
bracis-28353	217	49	)	)	PUNCT
bracis-28353	217	50	the	the	DET
bracis-28353	217	51	execution	execution	NOUN
bracis-28353	217	52	structure	structure	NOUN
bracis-28353	217	53	induced	induce	VERB
bracis-28353	217	54	by	by	ADP
bracis-28353	217	55	\(\pi	\(\pi	PROPN
bracis-28353	217	56	\	\	NOUN
bracis-28353	217	57	)	)	PUNCT
bracis-28353	217	58	.	.	PUNCT
bracis-28353	218	1	the	the	DET
bracis-28353	218	2	always(p	always(p	NOUN
bracis-28353	218	3	)	)	PUNCT
bracis-28353	218	4	\((p	\((p	NOUN
bracis-28353	218	5	\in	\in	PROPN
bracis-28353	218	6	\mathbb	\mathbb	PROPN
bracis-28353	218	7	{	{	PUNCT
bracis-28353	218	8	p})\	p})\	NOUN
bracis-28353	218	9	)	)	PUNCT
bracis-28353	218	10	preference	preference	NOUN
bracis-28353	218	11	for	for	ADP
bracis-28353	218	12	a	a	DET
bracis-28353	218	13	strong	strong	ADJ
bracis-28353	218	14	policy	policy	NOUN
bracis-28353	218	15	is	be	AUX
bracis-28353	218	16	satisfied	satisfied	ADJ
bracis-28353	218	17	in	in	ADP
bracis-28353	218	18	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	218	19	{	{	PUNCT
bracis-28353	218	20	d}[\pi	d}[\pi	PROPN
bracis-28353	218	21	]	]	PUNCT
bracis-28353	218	22	}	}	PUNCT
bracis-28353	218	23	\	\	NOUN
bracis-28353	218	24	)	)	PUNCT
bracis-28353	218	25	iff	iff	NOUN
bracis-28353	218	26	for	for	ADP
bracis-28353	218	27	all	all	DET
bracis-28353	218	28	execution	execution	NOUN
bracis-28353	218	29	path	path	NOUN
bracis-28353	218	30	\(\mathcal	\(\mathcal	ADJ
bracis-28353	218	31	{	{	PUNCT
bracis-28353	218	32	p}_{\pi	p}_{\pi	NOUN
bracis-28353	218	33	}	}	PUNCT
bracis-28353	218	34	\	\	NOUN
bracis-28353	218	35	)	)	PUNCT
bracis-28353	218	36	,	,	PUNCT
bracis-28353	218	37	we	we	PRON
bracis-28353	218	38	have	have	VERB
bracis-28353	218	39	and	and	CCONJ
bracis-28353	218	40	\	\	NOUN
bracis-28353	218	41	(	(	PUNCT
bracis-28353	218	42	\forall	\forall	ADV
bracis-28353	218	43	k	k	PROPN
bracis-28353	218	44	,	,	PUNCT
bracis-28353	218	45	0	0	NUM
bracis-28353	219	1	\	\	PROPN
bracis-28353	219	2	,	,	PUNCT
bracis-28353	219	3	\le	\le	PROPN
bracis-28353	219	4	k\le	k\le	PROPN
bracis-28353	219	5	\,i-1	\,i-1	PROPN
bracis-28353	219	6	,	,	PUNCT
bracis-28353	219	7	s_{k	s_{k	NOUN
bracis-28353	219	8	}	}	PUNCT
bracis-28353	219	9	\in	\in	PROPN
bracis-28353	219	10	{	{	PUNCT
bracis-28353	219	11	\mathcal	\mathcal	ADJ
bracis-28353	219	12	{	{	PUNCT
bracis-28353	219	13	p}_\pi	p}_\pi	NOUN
bracis-28353	219	14	}	}	PUNCT
bracis-28353	219	15	\	\	NOUN
bracis-28353	219	16	)	)	PUNCT
bracis-28353	219	17	with	with	ADP
bracis-28353	219	18	.	.	PUNCT
bracis-28353	220	1	definition	definition	NOUN
bracis-28353	220	2	16	16	NUM
bracis-28353	220	3	(	(	PUNCT
bracis-28353	220	4	specifying	specify	VERB
bracis-28353	220	5	the	the	DET
bracis-28353	220	6	always	always	ADJ
bracis-28353	220	7	preference	preference	NOUN
bracis-28353	220	8	for	for	ADP
bracis-28353	220	9	strong	strong	ADJ
bracis-28353	220	10	policies	policy	NOUN
bracis-28353	220	11	in	in	ADP
bracis-28353	220	12	\(\alpha	\(\alpha	NOUN
bracis-28353	220	13	\	\	NOUN
bracis-28353	220	14	)	)	PUNCT
bracis-28353	220	15	-ctl	-ctl	NUM
bracis-28353	220	16	)	)	PUNCT
bracis-28353	220	17	.	.	PUNCT
bracis-28353	221	1	let	let	AUX
bracis-28353	221	2	be	be	AUX
bracis-28353	221	3	\(p=\langle	\(p=\langle	VERB
bracis-28353	221	4	\mathcal	\mathcal	ADJ
bracis-28353	221	5	{	{	PUNCT
bracis-28353	221	6	d	d	NOUN
bracis-28353	221	7	}	}	PUNCT
bracis-28353	221	8	,	,	PUNCT
bracis-28353	221	9	s_{0	s_{0	PROPN
bracis-28353	221	10	}	}	PUNCT
bracis-28353	221	11	,	,	PUNCT
bracis-28353	221	12	\varphi	\varphi	AUX
bracis-28353	221	13	\rangle	\rangle	NOUN
bracis-28353	221	14	\)a	\)a	PUNCT
bracis-28353	221	15	non	non	ADJ
bracis-28353	221	16	-	-	ADJ
bracis-28353	221	17	deterministic	deterministic	ADJ
bracis-28353	221	18	planning	planning	NOUN
bracis-28353	221	19	problem	problem	NOUN
bracis-28353	221	20	with	with	ADP
bracis-28353	221	21	signature	signature	NOUN
bracis-28353	221	22	\((\mathbb	\((\mathbb	NOUN
bracis-28353	221	23	{	{	PUNCT
bracis-28353	221	24	p	p	NOUN
bracis-28353	221	25	}	}	PUNCT
bracis-28353	221	26	,	,	PUNCT
bracis-28353	221	27	\mathbb	\mathbb	PROPN
bracis-28353	221	28	{	{	PUNCT
bracis-28353	221	29	a})\	a})\	PROPN
bracis-28353	221	30	)	)	PUNCT
bracis-28353	221	31	and	and	CCONJ
bracis-28353	221	32	always(p	always(p	NOUN
bracis-28353	221	33	)	)	PUNCT
bracis-28353	221	34	\((p\in	\((p\in	PUNCT
bracis-28353	221	35	\mathbb	\mathbb	PROPN
bracis-28353	221	36	{	{	PUNCT
bracis-28353	221	37	p})\	p})\	X
bracis-28353	221	38	)	)	PUNCT
bracis-28353	221	39	a	a	DET
bracis-28353	221	40	qualitative	qualitative	ADJ
bracis-28353	221	41	preference	preference	NOUN
bracis-28353	221	42	over	over	ADP
bracis-28353	221	43	p.	p.	NOUN
bracis-28353	221	44	this	this	DET
bracis-28353	221	45	preference	preference	NOUN
bracis-28353	221	46	for	for	ADP
bracis-28353	221	47	a	a	DET
bracis-28353	221	48	strong	strong	ADJ
bracis-28353	221	49	policy	policy	NOUN
bracis-28353	221	50	can	can	AUX
bracis-28353	221	51	be	be	AUX
bracis-28353	221	52	expressed	express	VERB
bracis-28353	221	53	by	by	ADP
bracis-28353	221	54	the	the	DET
bracis-28353	221	55	following	follow	VERB
bracis-28353	221	56	\(\alpha	\(\alpha	NOUN
bracis-28353	221	57	-\)ctl	-\)ctl	NOUN
bracis-28353	221	58	formula	formula	NOUN
bracis-28353	221	59	:	:	PUNCT
bracis-28353	221	60	                                           	                                           	SPACE
bracis-28353	221	61	.	.	PUNCT
bracis-28353	222	1	in	in	ADP
bracis-28353	222	2	order	order	NOUN
bracis-28353	222	3	to	to	PART
bracis-28353	222	4	prove	prove	VERB
bracis-28353	222	5	that	that	SCONJ
bracis-28353	222	6	\(\alpha	\(\alpha	ADV
bracis-28353	222	7	\)-ctl	\)-ctl	NOUN
bracis-28353	222	8	formula	formula	NOUN
bracis-28353	222	9	specifies	specify	VERB
bracis-28353	222	10	the	the	DET
bracis-28353	222	11	always(p	always(p	NOUN
bracis-28353	222	12	)	)	PUNCT
bracis-28353	222	13	preference	preference	NOUN
bracis-28353	222	14	for	for	ADP
bracis-28353	222	15	a	a	DET
bracis-28353	222	16	strong	strong	ADJ
bracis-28353	222	17	policy	policy	NOUN
bracis-28353	222	18	for	for	ADP
bracis-28353	222	19	a	a	DET
bracis-28353	222	20	non	non	ADJ
bracis-28353	222	21	-	-	ADJ
bracis-28353	222	22	deterministic	deterministic	ADJ
bracis-28353	222	23	planning	planning	NOUN
bracis-28353	222	24	problem	problem	NOUN
bracis-28353	222	25	\(p	\(p	NOUN
bracis-28353	222	26	=	=	PUNCT
bracis-28353	222	27	\langle	\langle	PROPN
bracis-28353	222	28	\mathcal	\mathcal	PROPN
bracis-28353	222	29	{	{	PUNCT
bracis-28353	222	30	d	d	NOUN
bracis-28353	222	31	}	}	PUNCT
bracis-28353	222	32	,	,	PUNCT
bracis-28353	222	33	s_0	s_0	ADJ
bracis-28353	222	34	,	,	PUNCT
bracis-28353	222	35	\varphi	\varphi	ADP
bracis-28353	222	36	\rangle	\rangle	NOUN
bracis-28353	222	37	\	\	NOUN
bracis-28353	222	38	)	)	PUNCT
bracis-28353	222	39	we	we	PRON
bracis-28353	222	40	have	have	VERB
bracis-28353	222	41	to	to	PART
bracis-28353	222	42	show	show	VERB
bracis-28353	222	43	that	that	PRON
bracis-28353	222	44	is	be	AUX
bracis-28353	222	45	possible	possible	ADJ
bracis-28353	222	46	to	to	PART
bracis-28353	222	47	obtain	obtain	VERB
bracis-28353	222	48	a	a	DET
bracis-28353	222	49	submodel	submodel	NOUN
bracis-28353	222	50	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	222	51	{	{	PUNCT
bracis-28353	222	52	d}[\pi	d}[\pi	PROPN
bracis-28353	222	53	]	]	PUNCT
bracis-28353	222	54	}	}	PUNCT
bracis-28353	222	55	\subseteq	\subseteq	PROPN
bracis-28353	222	56	\mathcal	\mathcal	PROPN
bracis-28353	222	57	{	{	PUNCT
bracis-28353	222	58	d}\	d}\	PROPN
bracis-28353	222	59	)	)	PUNCT
bracis-28353	222	60	induced	induce	VERB
bracis-28353	222	61	by	by	ADP
bracis-28353	222	62	the	the	DET
bracis-28353	222	63	strong	strong	ADJ
bracis-28353	222	64	policy	policy	NOUN
bracis-28353	222	65	\(\pi	\(\pi	ADP
bracis-28353	222	66	\	\	NOUN
bracis-28353	222	67	)	)	PUNCT
bracis-28353	222	68	that	that	PRON
bracis-28353	222	69	satisfies	satisfy	VERB
bracis-28353	222	70	the	the	DET
bracis-28353	222	71	following	follow	VERB
bracis-28353	222	72	conditions	condition	NOUN
bracis-28353	222	73	:	:	PUNCT
bracis-28353	222	74	(	(	PUNCT
bracis-28353	222	75	1	1	X
bracis-28353	222	76	)	)	PUNCT
bracis-28353	222	77	\(s_0	\(s_0	PROPN
bracis-28353	222	78	\in	\in	PROPN
bracis-28353	222	79	s_{\mathcal	s_{\mathcal	X
bracis-28353	222	80	{	{	PUNCT
bracis-28353	222	81	d}[\pi	d}[\pi	PROPN
bracis-28353	222	82	]	]	PUNCT
bracis-28353	222	83	}	}	PUNCT
bracis-28353	222	84	\	\	NOUN
bracis-28353	222	85	)	)	PUNCT
bracis-28353	222	86	;	;	PUNCT
bracis-28353	222	87	(	(	PUNCT
bracis-28353	222	88	2	2	X
bracis-28353	222	89	)	)	PUNCT
bracis-28353	222	90	for	for	ADP
bracis-28353	222	91	all	all	DET
bracis-28353	222	92	execution	execution	NOUN
bracis-28353	222	93	paths	path	NOUN
bracis-28353	222	94	\(\mathcal	\(\mathcal	NOUN
bracis-28353	222	95	{	{	PUNCT
bracis-28353	222	96	p}_{\pi	p}_{\pi	NOUN
bracis-28353	222	97	}	}	SYM
bracis-28353	222	98	\in	\in	PROPN
bracis-28353	222	99	s_{\mathcal	s_{\mathcal	X
bracis-28353	222	100	{	{	PUNCT
bracis-28353	222	101	d}[\pi	d}[\pi	PROPN
bracis-28353	222	102	]	]	PUNCT
bracis-28353	222	103	}	}	PUNCT
bracis-28353	222	104	\	\	NOUN
bracis-28353	222	105	)	)	PUNCT
bracis-28353	222	106	,	,	PUNCT
bracis-28353	222	107	we	we	PRON
bracis-28353	222	108	have	have	VERB
bracis-28353	222	109	\(\forall	\(\forall	ADV
bracis-28353	222	110	k	k	X
bracis-28353	222	111	,	,	PUNCT
bracis-28353	222	112	0	0	NUM
bracis-28353	222	113	\le	\le	PROPN
bracis-28353	222	114	k	k	PROPN
bracis-28353	222	115	\le	\le	PROPN
bracis-28353	222	116	i-1\	i-1\	PROPN
bracis-28353	222	117	)	)	PUNCT
bracis-28353	222	118	,	,	PUNCT
bracis-28353	222	119	\	\	PROPN
bracis-28353	222	120	(	(	PUNCT
bracis-28353	222	121	s_{k	s_{k	NOUN
bracis-28353	222	122	}	}	PUNCT
bracis-28353	222	123	\in	\in	PROPN
bracis-28353	222	124	{	{	PUNCT
bracis-28353	222	125	\mathcal	\mathcal	ADJ
bracis-28353	222	126	{	{	PUNCT
bracis-28353	222	127	p}_\pi	p}_\pi	NOUN
bracis-28353	222	128	}	}	PUNCT
bracis-28353	222	129	\	\	NOUN
bracis-28353	222	130	)	)	PUNCT
bracis-28353	222	131	and	and	CCONJ
bracis-28353	222	132	.	.	PUNCT
bracis-28353	223	1	proof	proof	NOUN
bracis-28353	223	2	consider	consider	VERB
bracis-28353	223	3	a	a	DET
bracis-28353	223	4	non	non	ADJ
bracis-28353	223	5	-	-	ADJ
bracis-28353	223	6	deterministic	deterministic	ADJ
bracis-28353	223	7	planning	planning	NOUN
bracis-28353	223	8	problem	problem	NOUN
bracis-28353	223	9	\(p	\(p	X
bracis-28353	223	10	=	=	PUNCT
bracis-28353	224	1	<	<	X
bracis-28353	224	2	\mathcal	\mathcal	PROPN
bracis-28353	224	3	{	{	PUNCT
bracis-28353	224	4	d	d	NOUN
bracis-28353	224	5	}	}	PUNCT
bracis-28353	224	6	,	,	PUNCT
bracis-28353	224	7	s_0	s_0	ADJ
bracis-28353	224	8	,	,	PUNCT
bracis-28353	224	9	\varphi	\varphi	PROPN
bracis-28353	224	10	>	>	X
bracis-28353	224	11	\	\	PROPN
bracis-28353	224	12	)	)	PUNCT
bracis-28353	224	13	.	.	PUNCT
bracis-28353	225	1	assume	assume	VERB
bracis-28353	225	2	that	that	PRON
bracis-28353	225	3	.	.	PUNCT
bracis-28353	226	1	according	accord	VERB
bracis-28353	226	2	\(\alpha	\(\alpha	X
bracis-28353	226	3	\)-ctl	\)-ctl	NOUN
bracis-28353	226	4	semantics	semantic	NOUN
bracis-28353	226	5	,	,	PUNCT
bracis-28353	226	6	there	there	PRON
bracis-28353	226	7	is	be	VERB
bracis-28353	226	8	an	an	DET
bracis-28353	226	9	action	action	NOUN
bracis-28353	226	10	\(a	\(a	NOUN
bracis-28353	226	11	\in	\in	PROPN
bracis-28353	226	12	\mathbb	\mathbb	PROPN
bracis-28353	226	13	{	{	PUNCT
bracis-28353	226	14	a}\	a}\	NUM
bracis-28353	226	15	)	)	PUNCT
bracis-28353	226	16	such	such	ADJ
bracis-28353	226	17	that	that	SCONJ
bracis-28353	226	18	,	,	PUNCT
bracis-28353	226	19	for	for	ADP
bracis-28353	226	20	all	all	DET
bracis-28353	226	21	execution	execution	NOUN
bracis-28353	226	22	path	path	NOUN
bracis-28353	226	23	\(\mathcal	\(\mathcal	ADJ
bracis-28353	226	24	{	{	PUNCT
bracis-28353	226	25	p}_\pi	p}_\pi	NOUN
bracis-28353	226	26	\	\	NOUN
bracis-28353	226	27	)	)	PUNCT
bracis-28353	226	28	,	,	PUNCT
bracis-28353	226	29	starting	start	VERB
bracis-28353	226	30	in	in	ADP
bracis-28353	226	31	\(s_0\	\(s_0\	PROPN
bracis-28353	226	32	)	)	PUNCT
bracis-28353	226	33	,	,	PUNCT
bracis-28353	226	34	there	there	PRON
bracis-28353	226	35	is	be	VERB
bracis-28353	226	36	a	a	DET
bracis-28353	226	37	state	state	NOUN
bracis-28353	226	38	\(s_i\	\(s_i\	NOUN
bracis-28353	226	39	)	)	PUNCT
bracis-28353	226	40	(	(	PUNCT
bracis-28353	226	41	\(s_i	\(s_i	ADV
bracis-28353	226	42	\ge	\ge	PROPN
bracis-28353	226	43	0\	0\	PROPN
bracis-28353	226	44	)	)	PUNCT
bracis-28353	226	45	)	)	PUNCT
bracis-28353	226	46	in	in	ADP
bracis-28353	226	47	each	each	DET
bracis-28353	226	48	path	path	NOUN
bracis-28353	226	49	such	such	ADJ
bracis-28353	226	50	that	that	PRON
bracis-28353	226	51	and	and	CCONJ
bracis-28353	226	52	,	,	PUNCT
bracis-28353	226	53	for	for	ADP
bracis-28353	226	54	each	each	DET
bracis-28353	226	55	\(0	\(0	PROPN
bracis-28353	226	56	\le	\le	PROPN
bracis-28353	226	57	k	k	X
bracis-28353	226	58	<	<	X
bracis-28353	226	59	i\	i\	PROPN
bracis-28353	226	60	)	)	PUNCT
bracis-28353	226	61	,	,	PUNCT
bracis-28353	226	62	we	we	PRON
bracis-28353	226	63	have	have	VERB
bracis-28353	226	64	.	.	PUNCT
bracis-28353	227	1	thus	thus	ADV
bracis-28353	227	2	,	,	PUNCT
bracis-28353	227	3	we	we	PRON
bracis-28353	227	4	can	can	AUX
bracis-28353	227	5	affirm	affirm	VERB
bracis-28353	227	6	that	that	SCONJ
bracis-28353	227	7	\(\mathcal	\(\mathcal	ADJ
bracis-28353	227	8	{	{	PUNCT
bracis-28353	227	9	p}_\pi	p}_\pi	NOUN
bracis-28353	227	10	\	\	NOUN
bracis-28353	227	11	)	)	PUNCT
bracis-28353	227	12	is	be	AUX
bracis-28353	227	13	a	a	DET
bracis-28353	227	14	execution	execution	NOUN
bracis-28353	227	15	path	path	NOUN
bracis-28353	227	16	.	.	PUNCT
bracis-28353	228	1	consequently	consequently	ADV
bracis-28353	228	2	,	,	PUNCT
bracis-28353	228	3	there	there	PRON
bracis-28353	228	4	is	be	VERB
bracis-28353	228	5	a	a	DET
bracis-28353	228	6	execution	execution	NOUN
bracis-28353	228	7	structure	structure	NOUN
bracis-28353	228	8	\(s_{\mathcal	\(s_{\mathcal	NOUN
bracis-28353	228	9	{	{	PUNCT
bracis-28353	228	10	d}[\pi	d}[\pi	PROPN
bracis-28353	228	11	]	]	PUNCT
bracis-28353	228	12	}	}	PUNCT
bracis-28353	228	13	\	\	NOUN
bracis-28353	228	14	)	)	PUNCT
bracis-28353	228	15	induced	induce	VERB
bracis-28353	228	16	by	by	ADP
bracis-28353	228	17	the	the	DET
bracis-28353	228	18	policy	policy	NOUN
bracis-28353	228	19	\(\pi	\(\pi	ADP
bracis-28353	228	20	\	\	NOUN
bracis-28353	228	21	)	)	PUNCT
bracis-28353	229	1	(	(	PUNCT
bracis-28353	229	2	definition	definition	NOUN
bracis-28353	229	3	5	5	NUM
bracis-28353	229	4	)	)	PUNCT
bracis-28353	229	5	such	such	ADJ
bracis-28353	229	6	that	that	SCONJ
bracis-28353	229	7	all	all	DET
bracis-28353	229	8	\(\mathcal	\(\mathcal	ADJ
bracis-28353	229	9	{	{	PUNCT
bracis-28353	229	10	p}_\pi	p}_\pi	NOUN
bracis-28353	229	11	\in	\in	PROPN
bracis-28353	229	12	s_{\mathcal	s_{\mathcal	X
bracis-28353	229	13	{	{	PUNCT
bracis-28353	229	14	d}[\pi	d}[\pi	PROPN
bracis-28353	229	15	]	]	PUNCT
bracis-28353	229	16	}	}	PUNCT
bracis-28353	229	17	\	\	NOUN
bracis-28353	229	18	)	)	PUNCT
bracis-28353	229	19	.	.	PUNCT
bracis-28353	230	1	thus	thus	ADV
bracis-28353	230	2	,	,	PUNCT
bracis-28353	230	3	\(s_0	\(s_0	PROPN
bracis-28353	230	4	\in	\in	PROPN
bracis-28353	230	5	s_{\mathcal	s_{\mathcal	X
bracis-28353	230	6	{	{	PUNCT
bracis-28353	230	7	d}[\pi	d}[\pi	PROPN
bracis-28353	230	8	]	]	PUNCT
bracis-28353	230	9	}	}	PUNCT
bracis-28353	230	10	\	\	NOUN
bracis-28353	230	11	)	)	PUNCT
bracis-28353	230	12	,	,	PUNCT
bracis-28353	230	13	satisfying	satisfy	VERB
bracis-28353	230	14	condition	condition	NOUN
bracis-28353	230	15	1	1	NUM
bracis-28353	230	16	.	.	PUNCT
bracis-28353	231	1	since	since	SCONJ
bracis-28353	231	2	all	all	DET
bracis-28353	231	3	\(\mathcal	\(\mathcal	ADJ
bracis-28353	231	4	{	{	PUNCT
bracis-28353	231	5	p}_\pi	p}_\pi	NOUN
bracis-28353	231	6	\in	\in	PROPN
bracis-28353	231	7	s_{\mathcal	s_{\mathcal	X
bracis-28353	231	8	{	{	PUNCT
bracis-28353	231	9	d}[\pi	d}[\pi	PROPN
bracis-28353	231	10	]	]	PUNCT
bracis-28353	231	11	}	}	PUNCT
bracis-28353	231	12	\	\	NOUN
bracis-28353	231	13	)	)	PUNCT
bracis-28353	231	14	reach	reach	VERB
bracis-28353	231	15	a	a	DET
bracis-28353	231	16	goal	goal	NOUN
bracis-28353	231	17	state	state	NOUN
bracis-28353	231	18	,	,	PUNCT
bracis-28353	231	19	from	from	ADP
bracis-28353	231	20	initial	initial	ADJ
bracis-28353	231	21	state	state	NOUN
bracis-28353	231	22	\(s_0\	\(s_0\	PROPN
bracis-28353	231	23	)	)	PUNCT
bracis-28353	231	24	,	,	PUNCT
bracis-28353	231	25	and	and	CCONJ
bracis-28353	231	26	\(\forall	\(\forall	ADV
bracis-28353	231	27	k	k	X
bracis-28353	231	28	,	,	PUNCT
bracis-28353	231	29	0	0	NUM
bracis-28353	231	30	\le	\le	PUNCT
bracis-28353	231	31	k	k	X
bracis-28353	231	32	<	<	X
bracis-28353	231	33	i\	i\	PROPN
bracis-28353	231	34	)	)	PUNCT
bracis-28353	231	35	,	,	PUNCT
bracis-28353	231	36	\	\	PROPN
bracis-28353	231	37	(	(	PUNCT
bracis-28353	231	38	s_{k	s_{k	NOUN
bracis-28353	231	39	}	}	PUNCT
bracis-28353	231	40	\in	\in	PROPN
bracis-28353	231	41	{	{	PUNCT
bracis-28353	231	42	\mathcal	\mathcal	ADJ
bracis-28353	231	43	{	{	PUNCT
bracis-28353	231	44	p}_\pi	p}_\pi	NOUN
bracis-28353	231	45	}	}	PUNCT
bracis-28353	231	46	\	\	NOUN
bracis-28353	231	47	)	)	PUNCT
bracis-28353	232	1	e	e	NOUN
bracis-28353	232	2	,	,	PUNCT
bracis-28353	232	3	we	we	PRON
bracis-28353	232	4	have	have	VERB
bracis-28353	232	5	that	that	SCONJ
bracis-28353	232	6	the	the	DET
bracis-28353	232	7	condition	condition	NOUN
bracis-28353	232	8	2	2	NUM
bracis-28353	232	9	é	é	NOUN
bracis-28353	232	10	satisfied	satisfied	ADJ
bracis-28353	232	11	.	.	PUNCT
bracis-28353	233	1	4.3	4.3	NUM
bracis-28353	233	2	specifying	specify	VERB
bracis-28353	233	3	the	the	DET
bracis-28353	233	4	 	 	SPACE
bracis-28353	233	5	always	always	ADV
bracis-28353	233	6	preference	preference	NOUN
bracis-28353	233	7	for	for	ADP
bracis-28353	233	8	 	 	SPACE
bracis-28353	233	9	strong	strong	ADJ
bracis-28353	233	10	-	-	PUNCT
bracis-28353	233	11	cyclic	cyclic	ADJ
bracis-28353	233	12	policies	policy	NOUN
bracis-28353	233	13	strong	strong	ADJ
bracis-28353	233	14	cyclic	cyclic	ADJ
bracis-28353	233	15	policies	policy	NOUN
bracis-28353	233	16	guarantees	guarantee	VERB
bracis-28353	233	17	that	that	SCONJ
bracis-28353	233	18	all	all	DET
bracis-28353	233	19	sequence	sequence	NOUN
bracis-28353	233	20	of	of	ADP
bracis-28353	233	21	states	state	NOUN
bracis-28353	233	22	,	,	PUNCT
bracis-28353	233	23	obtained	obtain	VERB
bracis-28353	233	24	after	after	ADP
bracis-28353	233	25	policy	policy	NOUN
bracis-28353	233	26	execution	execution	NOUN
bracis-28353	233	27	,	,	PUNCT
bracis-28353	233	28	reach	reach	VERB
bracis-28353	233	29	the	the	DET
bracis-28353	233	30	goal	goal	NOUN
bracis-28353	233	31	under	under	ADP
bracis-28353	233	32	the	the	DET
bracis-28353	233	33	assumption	assumption	NOUN
bracis-28353	233	34	that	that	SCONJ
bracis-28353	233	35	its	its	PRON
bracis-28353	233	36	execution	execution	NOUN
bracis-28353	233	37	will	will	AUX
bracis-28353	233	38	eventually	eventually	ADV
bracis-28353	233	39	exit	exit	VERB
bracis-28353	233	40	all	all	DET
bracis-28353	233	41	existing	exist	VERB
bracis-28353	233	42	cycles	cycle	NOUN
bracis-28353	233	43	.	.	PUNCT
bracis-28353	234	1	in	in	ADP
bracis-28353	234	2	this	this	DET
bracis-28353	234	3	section	section	NOUN
bracis-28353	234	4	,	,	PUNCT
bracis-28353	234	5	we	we	PRON
bracis-28353	234	6	define	define	VERB
bracis-28353	234	7	how	how	SCONJ
bracis-28353	234	8	to	to	PART
bracis-28353	234	9	specify	specify	VERB
bracis-28353	234	10	the	the	DET
bracis-28353	234	11	\(\texttt	\(\texttt	NOUN
bracis-28353	234	12	{	{	PUNCT
bracis-28353	234	13	always}\	always}\	NOUN
bracis-28353	234	14	)	)	PUNCT
bracis-28353	234	15	preference	preference	NOUN
bracis-28353	234	16	for	for	ADP
bracis-28353	234	17	a	a	DET
bracis-28353	234	18	strong	strong	ADJ
bracis-28353	234	19	-	-	PUNCT
bracis-28353	234	20	cyclic	cyclic	ADJ
bracis-28353	234	21	policy	policy	NOUN
bracis-28353	234	22	.	.	PUNCT
bracis-28353	235	1	definition	definition	NOUN
bracis-28353	235	2	17	17	NUM
bracis-28353	235	3	(	(	PUNCT
bracis-28353	235	4	preference	preference	NOUN
bracis-28353	235	5	always	always	ADV
bracis-28353	235	6	for	for	ADP
bracis-28353	235	7	strong	strong	ADJ
bracis-28353	235	8	-	-	PUNCT
bracis-28353	235	9	cyclic	cyclic	ADJ
bracis-28353	235	10	policies	policy	NOUN
bracis-28353	235	11	)	)	PUNCT
bracis-28353	235	12	.	.	PUNCT
bracis-28353	236	1	let	let	AUX
bracis-28353	236	2	be	be	AUX
bracis-28353	236	3	\(p=\langle	\(p=\langle	VERB
bracis-28353	236	4	\mathcal	\mathcal	ADJ
bracis-28353	236	5	{	{	PUNCT
bracis-28353	236	6	d	d	NOUN
bracis-28353	236	7	}	}	PUNCT
bracis-28353	236	8	,	,	PUNCT
bracis-28353	236	9	s_{0	s_{0	PROPN
bracis-28353	236	10	}	}	PUNCT
bracis-28353	236	11	,	,	PUNCT
bracis-28353	236	12	\varphi	\varphi	ADP
bracis-28353	236	13	\rangle	\rangle	NOUN
bracis-28353	236	14	\	\	NOUN
bracis-28353	236	15	)	)	PUNCT
bracis-28353	236	16	a	a	DET
bracis-28353	236	17	non	non	ADJ
bracis-28353	236	18	-	-	ADJ
bracis-28353	236	19	deterministic	deterministic	ADJ
bracis-28353	236	20	planning	planning	NOUN
bracis-28353	236	21	problem	problem	NOUN
bracis-28353	236	22	,	,	PUNCT
bracis-28353	236	23	where	where	SCONJ
bracis-28353	236	24	\(\mathcal	\(\mathcal	ADJ
bracis-28353	236	25	{	{	PUNCT
bracis-28353	236	26	d}\	d}\	PROPN
bracis-28353	236	27	)	)	PUNCT
bracis-28353	236	28	has	have	VERB
bracis-28353	236	29	signature	signature	NOUN
bracis-28353	236	30	\((\mathbb	\((\mathbb	PROPN
bracis-28353	236	31	{	{	PUNCT
bracis-28353	236	32	p}\	p}\	NUM
bracis-28353	236	33	)	)	PUNCT
bracis-28353	236	34	,	,	PUNCT
bracis-28353	236	35	\(\mathbb	\(\mathbb	X
bracis-28353	236	36	{	{	PUNCT
bracis-28353	236	37	a})\	a})\	PROPN
bracis-28353	236	38	)	)	PUNCT
bracis-28353	236	39	,	,	PUNCT
bracis-28353	236	40	\(\pi	\(\pi	PROPN
bracis-28353	236	41	\	\	NOUN
bracis-28353	236	42	)	)	PUNCT
bracis-28353	236	43	a	a	DET
bracis-28353	236	44	strong	strong	ADJ
bracis-28353	236	45	cyclic	cyclic	ADJ
bracis-28353	236	46	policy	policy	NOUN
bracis-28353	236	47	for	for	ADP
bracis-28353	236	48	p	p	NOUN
bracis-28353	236	49	,	,	PUNCT
bracis-28353	236	50	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	236	51	{	{	PUNCT
bracis-28353	236	52	d}[\pi	d}[\pi	PROPN
bracis-28353	236	53	]	]	PUNCT
bracis-28353	236	54	}	}	PUNCT
bracis-28353	236	55	\	\	NOUN
bracis-28353	236	56	)	)	PUNCT
bracis-28353	236	57	a	a	DET
bracis-28353	236	58	execution	execution	NOUN
bracis-28353	236	59	structure	structure	NOUN
bracis-28353	236	60	induced	induce	VERB
bracis-28353	236	61	by	by	ADP
bracis-28353	236	62	\(\pi	\(\pi	PROPN
bracis-28353	236	63	\	\	NOUN
bracis-28353	236	64	)	)	PUNCT
bracis-28353	236	65	.	.	PUNCT
bracis-28353	237	1	the	the	DET
bracis-28353	237	2	always(p	always(p	NOUN
bracis-28353	237	3	)	)	PUNCT
bracis-28353	237	4	preference	preference	NOUN
bracis-28353	237	5	\((p	\((p	X
bracis-28353	237	6	\in	\in	PROPN
bracis-28353	237	7	\mathbb	\mathbb	PROPN
bracis-28353	237	8	{	{	PUNCT
bracis-28353	237	9	p})\	p})\	NOUN
bracis-28353	237	10	)	)	PUNCT
bracis-28353	237	11	for	for	ADP
bracis-28353	237	12	a	a	DET
bracis-28353	237	13	strong	strong	ADJ
bracis-28353	237	14	cyclic	cyclic	ADJ
bracis-28353	237	15	policy	policy	NOUN
bracis-28353	237	16	is	be	AUX
bracis-28353	237	17	satisfied	satisfied	ADJ
bracis-28353	237	18	in	in	ADP
bracis-28353	237	19	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	237	20	{	{	PUNCT
bracis-28353	237	21	d}[\pi	d}[\pi	PROPN
bracis-28353	237	22	]	]	PUNCT
bracis-28353	237	23	}	}	PUNCT
bracis-28353	237	24	\	\	NOUN
bracis-28353	237	25	)	)	PUNCT
bracis-28353	237	26	iff	iff	NOUN
bracis-28353	237	27	for	for	ADP
bracis-28353	237	28	all	all	DET
bracis-28353	237	29	execution	execution	NOUN
bracis-28353	237	30	paths	path	NOUN
bracis-28353	237	31	\(\mathcal	\(\mathcal	NOUN
bracis-28353	237	32	{	{	PUNCT
bracis-28353	237	33	p}_{\pi	p}_{\pi	NOUN
bracis-28353	237	34	}	}	PUNCT
bracis-28353	237	35	\	\	NOUN
bracis-28353	237	36	)	)	PUNCT
bracis-28353	237	37	,	,	PUNCT
bracis-28353	237	38	we	we	PRON
bracis-28353	237	39	have	have	VERB
bracis-28353	237	40	\	\	NOUN
bracis-28353	237	41	(	(	PUNCT
bracis-28353	237	42	\forall	\forall	ADV
bracis-28353	237	43	k	k	PROPN
bracis-28353	237	44	,	,	PUNCT
bracis-28353	237	45	0	0	NUM
bracis-28353	238	1	\	\	PROPN
bracis-28353	238	2	,	,	PUNCT
bracis-28353	238	3	\le	\le	PROPN
bracis-28353	238	4	k\le	k\le	PROPN
bracis-28353	238	5	\,i-1	\,i-1	PROPN
bracis-28353	238	6	,	,	PUNCT
bracis-28353	238	7	s_{k	s_{k	NOUN
bracis-28353	238	8	}	}	PUNCT
bracis-28353	238	9	\in	\in	PROPN
bracis-28353	238	10	{	{	PUNCT
bracis-28353	238	11	\mathcal	\mathcal	PROPN
bracis-28353	238	12	{	{	PUNCT
bracis-28353	238	13	p}_{{\pi	p}_{{\pi	NOUN
bracis-28353	238	14	}	}	PUNCT
bracis-28353	238	15	_	_	PUNCT
bracis-28353	238	16	i}}\	i}}\	NOUN
bracis-28353	238	17	)	)	PUNCT
bracis-28353	238	18	e	e	X
bracis-28353	238	19	.	.	PUNCT
bracis-28353	239	1	furthermore	furthermore	ADV
bracis-28353	239	2	,	,	PUNCT
bracis-28353	239	3	it	it	PRON
bracis-28353	239	4	is	be	AUX
bracis-28353	239	5	possible	possible	ADJ
bracis-28353	239	6	to	to	PART
bracis-28353	239	7	reach	reach	VERB
bracis-28353	239	8	a	a	DET
bracis-28353	239	9	goal	goal	NOUN
bracis-28353	239	10	state	state	NOUN
bracis-28353	239	11	from	from	ADP
bracis-28353	239	12	each	each	DET
bracis-28353	239	13	\(s_k	\(s_k	PROPN
bracis-28353	239	14	\in	\in	PROPN
bracis-28353	239	15	\mathcal	\mathcal	PROPN
bracis-28353	239	16	{	{	PUNCT
bracis-28353	239	17	p}_{\pi	p}_{\pi	NOUN
bracis-28353	239	18	}	}	PUNCT
bracis-28353	239	19	\	\	NOUN
bracis-28353	239	20	)	)	PUNCT
bracis-28353	239	21	.	.	PUNCT
bracis-28353	240	1	definition	definition	NOUN
bracis-28353	240	2	18	18	NUM
bracis-28353	240	3	(	(	PUNCT
bracis-28353	240	4	specifying	specify	VERB
bracis-28353	240	5	the	the	DET
bracis-28353	240	6	always	always	ADJ
bracis-28353	240	7	preference	preference	NOUN
bracis-28353	240	8	for	for	ADP
bracis-28353	240	9	strong	strong	ADJ
bracis-28353	240	10	cyclic	cyclic	ADJ
bracis-28353	240	11	policies	policy	NOUN
bracis-28353	240	12	in	in	ADP
bracis-28353	240	13	\(\alpha	\(\alpha	X
bracis-28353	240	14	\	\	NOUN
bracis-28353	240	15	)	)	PUNCT
bracis-28353	240	16	-ctl	-ctl	NUM
bracis-28353	240	17	)	)	PUNCT
bracis-28353	240	18	.	.	PUNCT
bracis-28353	241	1	let	let	AUX
bracis-28353	241	2	be	be	AUX
bracis-28353	241	3	\(p=\langle	\(p=\langle	VERB
bracis-28353	241	4	\mathcal	\mathcal	ADJ
bracis-28353	241	5	{	{	PUNCT
bracis-28353	241	6	d	d	NOUN
bracis-28353	241	7	}	}	PUNCT
bracis-28353	241	8	,	,	PUNCT
bracis-28353	241	9	s_{0	s_{0	PROPN
bracis-28353	241	10	}	}	PUNCT
bracis-28353	241	11	,	,	PUNCT
bracis-28353	241	12	\varphi	\varphi	ADP
bracis-28353	241	13	\rangle	\rangle	NOUN
bracis-28353	241	14	\	\	NOUN
bracis-28353	241	15	)	)	PUNCT
bracis-28353	241	16	a	a	DET
bracis-28353	241	17	non	non	ADJ
bracis-28353	241	18	-	-	ADJ
bracis-28353	241	19	deterministic	deterministic	ADJ
bracis-28353	241	20	planning	planning	NOUN
bracis-28353	241	21	problem	problem	NOUN
bracis-28353	241	22	,	,	PUNCT
bracis-28353	241	23	where	where	SCONJ
bracis-28353	241	24	\(\mathcal	\(\mathcal	ADJ
bracis-28353	241	25	{	{	PUNCT
bracis-28353	241	26	d}\	d}\	PROPN
bracis-28353	241	27	)	)	PUNCT
bracis-28353	241	28	has	have	VERB
bracis-28353	241	29	signature	signature	NOUN
bracis-28353	241	30	\((\mathbb	\((\mathbb	NOUN
bracis-28353	241	31	{	{	PUNCT
bracis-28353	241	32	p	p	NOUN
bracis-28353	241	33	}	}	PUNCT
bracis-28353	241	34	,	,	PUNCT
bracis-28353	241	35	\mathbb	\mathbb	PROPN
bracis-28353	241	36	{	{	PUNCT
bracis-28353	241	37	a})\	a})\	PROPN
bracis-28353	241	38	)	)	PUNCT
bracis-28353	241	39	and	and	CCONJ
bracis-28353	241	40	always(p	always(p	NOUN
bracis-28353	241	41	)	)	PUNCT
bracis-28353	241	42	\((p\in	\((p\in	PUNCT
bracis-28353	241	43	\mathbb	\mathbb	PROPN
bracis-28353	241	44	{	{	PUNCT
bracis-28353	241	45	p})\	p})\	X
bracis-28353	241	46	)	)	PUNCT
bracis-28353	241	47	a	a	DET
bracis-28353	241	48	qualitative	qualitative	ADJ
bracis-28353	241	49	preference	preference	NOUN
bracis-28353	241	50	over	over	ADP
bracis-28353	241	51	p.	p.	NOUN
bracis-28353	241	52	this	this	DET
bracis-28353	241	53	preference	preference	NOUN
bracis-28353	241	54	for	for	ADP
bracis-28353	241	55	a	a	DET
bracis-28353	241	56	strong	strong	ADJ
bracis-28353	241	57	cyclic	cyclic	ADJ
bracis-28353	241	58	police	police	NOUN
bracis-28353	241	59	can	can	AUX
bracis-28353	241	60	be	be	AUX
bracis-28353	241	61	expressed	express	VERB
bracis-28353	241	62	by	by	ADP
bracis-28353	241	63	the	the	DET
bracis-28353	241	64	following	follow	VERB
bracis-28353	241	65	\(\alpha	\(\alpha	NOUN
bracis-28353	241	66	-\)ctl	-\)ctl	NOUN
bracis-28353	241	67	formula	formula	NOUN
bracis-28353	241	68	:	:	PUNCT
bracis-28353	241	69	                                           	                                           	SPACE
bracis-28353	241	70	.	.	PUNCT
bracis-28353	242	1	in	in	ADP
bracis-28353	242	2	oder	oder	NOUN
bracis-28353	242	3	to	to	PART
bracis-28353	242	4	show	show	VERB
bracis-28353	242	5	that	that	SCONJ
bracis-28353	242	6	\(\alpha	\(\alpha	ADV
bracis-28353	242	7	\)-ctl	\)-ctl	NOUN
bracis-28353	242	8	formula	formula	NOUN
bracis-28353	242	9	specify	specify	VERB
bracis-28353	242	10	the	the	DET
bracis-28353	242	11	always(p	always(p	NOUN
bracis-28353	242	12	)	)	PUNCT
bracis-28353	242	13	preference	preference	NOUN
bracis-28353	242	14	for	for	ADP
bracis-28353	242	15	a	a	DET
bracis-28353	242	16	strong	strong	ADJ
bracis-28353	242	17	solution	solution	NOUN
bracis-28353	242	18	for	for	ADP
bracis-28353	242	19	a	a	DET
bracis-28353	242	20	non	non	ADJ
bracis-28353	242	21	-	-	ADJ
bracis-28353	242	22	deterministic	deterministic	ADJ
bracis-28353	242	23	planning	planning	NOUN
bracis-28353	242	24	problem	problem	NOUN
bracis-28353	242	25	\(p	\(p	NOUN
bracis-28353	242	26	=	=	PRON
bracis-28353	242	27	\langle	\langle	PROPN
bracis-28353	242	28	\mathcal	\mathcal	PROPN
bracis-28353	242	29	{	{	PUNCT
bracis-28353	242	30	d},s_0,\varphi	d},s_0,\varphi	ADJ
bracis-28353	242	31	\rangle	\rangle	PROPN
bracis-28353	242	32	\	\	NOUN
bracis-28353	242	33	)	)	PUNCT
bracis-28353	242	34	we	we	PRON
bracis-28353	242	35	have	have	VERB
bracis-28353	242	36	to	to	PART
bracis-28353	242	37	show	show	VERB
bracis-28353	242	38	that	that	SCONJ
bracis-28353	242	39	it	it	PRON
bracis-28353	242	40	is	be	AUX
bracis-28353	242	41	possible	possible	ADJ
bracis-28353	242	42	to	to	PART
bracis-28353	242	43	obtain	obtain	VERB
bracis-28353	242	44	a	a	DET
bracis-28353	242	45	submodel	submodel	NOUN
bracis-28353	242	46	\(s_{\mathcal	\(s_{\mathcal	ADJ
bracis-28353	242	47	{	{	PUNCT
bracis-28353	242	48	d}[\pi	d}[\pi	PROPN
bracis-28353	242	49	]	]	PUNCT
bracis-28353	242	50	}	}	PUNCT
bracis-28353	242	51	\subseteq	\subseteq	PROPN
bracis-28353	242	52	d\	d\	NOUN
bracis-28353	242	53	)	)	PUNCT
bracis-28353	242	54	,	,	PUNCT
bracis-28353	242	55	such	such	ADJ
bracis-28353	242	56	that	that	SCONJ
bracis-28353	242	57	:	:	PUNCT
bracis-28353	242	58	(	(	PUNCT
bracis-28353	242	59	1	1	X
bracis-28353	242	60	)	)	PUNCT
bracis-28353	242	61	\(s_0	\(s_0	PROPN
bracis-28353	242	62	\in	\in	PROPN
bracis-28353	242	63	s_{\mathcal	s_{\mathcal	X
bracis-28353	242	64	{	{	PUNCT
bracis-28353	242	65	d}[\pi	d}[\pi	PROPN
bracis-28353	242	66	]	]	PUNCT
bracis-28353	242	67	}	}	PUNCT
bracis-28353	242	68	\	\	NOUN
bracis-28353	242	69	)	)	PUNCT
bracis-28353	242	70	;	;	PUNCT
bracis-28353	242	71	(	(	PUNCT
bracis-28353	242	72	2	2	X
bracis-28353	242	73	)	)	PUNCT
bracis-28353	242	74	in	in	ADP
bracis-28353	242	75	all	all	DET
bracis-28353	242	76	execution	execution	NOUN
bracis-28353	242	77	path	path	NOUN
bracis-28353	242	78	\(\mathcal	\(\mathcal	ADJ
bracis-28353	242	79	{	{	PUNCT
bracis-28353	242	80	p}_{\pi	p}_{\pi	NOUN
bracis-28353	242	81	}	}	SYM
bracis-28353	242	82	\in	\in	PROPN
bracis-28353	242	83	s_{\mathcal	s_{\mathcal	X
bracis-28353	242	84	{	{	PUNCT
bracis-28353	242	85	d}[\pi	d}[\pi	PROPN
bracis-28353	242	86	]	]	PUNCT
bracis-28353	242	87	}	}	PUNCT
bracis-28353	242	88	\	\	NOUN
bracis-28353	242	89	)	)	PUNCT
bracis-28353	242	90	we	we	PRON
bracis-28353	242	91	have	have	VERB
bracis-28353	242	92	\(\forall	\(\forall	ADV
bracis-28353	242	93	k	k	X
bracis-28353	242	94	,	,	PUNCT
bracis-28353	242	95	0	0	NUM
bracis-28353	242	96	\le	\le	PROPN
bracis-28353	242	97	k	k	PROPN
bracis-28353	242	98	\le	\le	PROPN
bracis-28353	242	99	i-1\	i-1\	PROPN
bracis-28353	242	100	)	)	PUNCT
bracis-28353	242	101	,	,	PUNCT
bracis-28353	242	102	\	\	PROPN
bracis-28353	242	103	(	(	PUNCT
bracis-28353	242	104	s_{k	s_{k	NOUN
bracis-28353	242	105	}	}	PUNCT
bracis-28353	242	106	\in	\in	PROPN
bracis-28353	242	107	{	{	PUNCT
bracis-28353	242	108	\mathcal	\mathcal	ADJ
bracis-28353	242	109	{	{	PUNCT
bracis-28353	242	110	p}_\pi	p}_\pi	NOUN
bracis-28353	242	111	}	}	PUNCT
bracis-28353	242	112	\	\	NOUN
bracis-28353	242	113	)	)	PUNCT
bracis-28353	242	114	and	and	CCONJ
bracis-28353	242	115	and	and	CCONJ
bracis-28353	242	116	;	;	PUNCT
bracis-28353	242	117	(	(	PUNCT
bracis-28353	242	118	3	3	X
bracis-28353	242	119	)	)	PUNCT
bracis-28353	242	120	it	it	PRON
bracis-28353	242	121	is	be	AUX
bracis-28353	242	122	possible	possible	ADJ
bracis-28353	242	123	to	to	PART
bracis-28353	242	124	exit	exit	VERB
bracis-28353	242	125	the	the	DET
bracis-28353	242	126	all	all	DET
bracis-28353	242	127	cycles	cycle	NOUN
bracis-28353	242	128	and	and	CCONJ
bracis-28353	242	129	reach	reach	VERB
bracis-28353	242	130	the	the	DET
bracis-28353	242	131	goal	goal	NOUN
bracis-28353	242	132	state	state	NOUN
bracis-28353	242	133	from	from	ADP
bracis-28353	242	134	any	any	DET
bracis-28353	242	135	state	state	NOUN
bracis-28353	242	136	in	in	ADP
bracis-28353	242	137	execution	execution	NOUN
bracis-28353	242	138	path	path	NOUN
bracis-28353	242	139	.	.	PUNCT
bracis-28353	243	1	proof	proof	NOUN
bracis-28353	243	2	consider	consider	VERB
bracis-28353	243	3	a	a	DET
bracis-28353	243	4	non	non	ADJ
bracis-28353	243	5	-	-	ADJ
bracis-28353	243	6	deterministic	deterministic	ADJ
bracis-28353	243	7	planning	planning	NOUN
bracis-28353	243	8	problem	problem	NOUN
bracis-28353	243	9	\(p	\(p	NOUN
bracis-28353	243	10	=	=	PUNCT
bracis-28353	243	11	\langle	\langle	PROPN
bracis-28353	243	12	\mathcal	\mathcal	PROPN
bracis-28353	243	13	{	{	PUNCT
bracis-28353	243	14	d	d	NOUN
bracis-28353	243	15	}	}	PUNCT
bracis-28353	243	16	,	,	PUNCT
bracis-28353	243	17	s_0	s_0	ADJ
bracis-28353	243	18	,	,	PUNCT
bracis-28353	243	19	\varphi	\varphi	ADP
bracis-28353	243	20	\rangle	\rangle	NOUN
bracis-28353	243	21	\	\	NOUN
bracis-28353	243	22	)	)	PUNCT
bracis-28353	243	23	.	.	PUNCT
bracis-28353	244	1	assume	assume	VERB
bracis-28353	244	2	that	that	PRON
bracis-28353	244	3	.	.	PUNCT
bracis-28353	245	1	according	accord	VERB
bracis-28353	245	2	\(\alpha	\(\alpha	X
bracis-28353	245	3	\)-ctl	\)-ctl	NOUN
bracis-28353	245	4	semantic	semantic	NOUN
bracis-28353	245	5	,	,	PUNCT
bracis-28353	245	6	there	there	PRON
bracis-28353	245	7	is	be	VERB
bracis-28353	245	8	an	an	DET
bracis-28353	245	9	action	action	NOUN
bracis-28353	245	10	\(a	\(a	NOUN
bracis-28353	245	11	\in	\in	PROPN
bracis-28353	245	12	\mathbb	\mathbb	PROPN
bracis-28353	245	13	{	{	PUNCT
bracis-28353	245	14	a}\	a}\	NUM
bracis-28353	245	15	)	)	PUNCT
bracis-28353	245	16	such	such	ADJ
bracis-28353	245	17	that	that	PRON
bracis-28353	245	18	for	for	ADP
bracis-28353	245	19	some	some	DET
bracis-28353	245	20	path	path	NOUN
bracis-28353	245	21	\(\mathcal	\(\mathcal	ADJ
bracis-28353	245	22	{	{	PUNCT
bracis-28353	245	23	p}_\pi	p}_\pi	NOUN
bracis-28353	245	24	\	\	NOUN
bracis-28353	245	25	)	)	PUNCT
bracis-28353	245	26	,	,	PUNCT
bracis-28353	245	27	starting	start	VERB
bracis-28353	245	28	in	in	ADP
bracis-28353	245	29	\(s_0\	\(s_0\	PROPN
bracis-28353	245	30	)	)	PUNCT
bracis-28353	245	31	there	there	PRON
bracis-28353	245	32	is	be	VERB
bracis-28353	245	33	a	a	DET
bracis-28353	245	34	state	state	NOUN
bracis-28353	245	35	\(s_i\	\(s_i\	NOUN
bracis-28353	245	36	)	)	PUNCT
bracis-28353	245	37	\((s_i	\((s_i	PRON
bracis-28353	245	38	\ge	\ge	PROPN
bracis-28353	245	39	0)\	0)\	NOUN
bracis-28353	245	40	)	)	PUNCT
bracis-28353	245	41	in	in	ADP
bracis-28353	245	42	this	this	DET
bracis-28353	245	43	path	path	NOUN
bracis-28353	245	44	such	such	ADJ
bracis-28353	245	45	that	that	PRON
bracis-28353	245	46	and	and	CCONJ
bracis-28353	245	47	,	,	PUNCT
bracis-28353	245	48	for	for	ADP
bracis-28353	245	49	each	each	DET
bracis-28353	245	50	\(0	\(0	PROPN
bracis-28353	245	51	\le	\le	PROPN
bracis-28353	245	52	k	k	X
bracis-28353	245	53	<	<	X
bracis-28353	245	54	i\	i\	PROPN
bracis-28353	245	55	)	)	PUNCT
bracis-28353	245	56	,	,	PUNCT
bracis-28353	245	57	we	we	PRON
bracis-28353	245	58	have	have	VERB
bracis-28353	245	59	.	.	PUNCT
bracis-28353	246	1	thus	thus	ADV
bracis-28353	246	2	,	,	PUNCT
bracis-28353	246	3	each	each	DET
bracis-28353	246	4	path	path	NOUN
bracis-28353	246	5	\(\mathcal	\(\mathcal	ADJ
bracis-28353	246	6	{	{	PUNCT
bracis-28353	246	7	p}_\pi	p}_\pi	NOUN
bracis-28353	246	8	\	\	NOUN
bracis-28353	246	9	)	)	PUNCT
bracis-28353	246	10	is	be	AUX
bracis-28353	246	11	a	a	DET
bracis-28353	246	12	execution	execution	NOUN
bracis-28353	246	13	path	path	NOUN
bracis-28353	246	14	.	.	PUNCT
bracis-28353	247	1	consequently	consequently	ADV
bracis-28353	247	2	,	,	PUNCT
bracis-28353	247	3	there	there	PRON
bracis-28353	247	4	is	be	VERB
bracis-28353	247	5	a	a	DET
bracis-28353	247	6	execution	execution	NOUN
bracis-28353	247	7	structure	structure	NOUN
bracis-28353	247	8	\(s_{\mathcal	\(s_{\mathcal	NOUN
bracis-28353	247	9	{	{	PUNCT
bracis-28353	247	10	d}[\pi	d}[\pi	PROPN
bracis-28353	247	11	]	]	PUNCT
bracis-28353	247	12	}	}	PUNCT
bracis-28353	247	13	\	\	NOUN
bracis-28353	247	14	)	)	PUNCT
bracis-28353	247	15	,	,	PUNCT
bracis-28353	247	16	induced	induce	VERB
bracis-28353	247	17	by	by	ADP
bracis-28353	247	18	\(\pi	\(\pi	PROPN
bracis-28353	247	19	\	\	NOUN
bracis-28353	247	20	)	)	PUNCT
bracis-28353	247	21	,	,	PUNCT
bracis-28353	247	22	such	such	ADJ
bracis-28353	247	23	that	that	SCONJ
bracis-28353	247	24	\(\mathcal	\(\mathcal	ADJ
bracis-28353	247	25	{	{	PUNCT
bracis-28353	247	26	p}_\pi	p}_\pi	NOUN
bracis-28353	247	27	\in	\in	PROPN
bracis-28353	247	28	s_{\mathcal	s_{\mathcal	X
bracis-28353	247	29	{	{	PUNCT
bracis-28353	247	30	d}[\pi	d}[\pi	PROPN
bracis-28353	247	31	]	]	PUNCT
bracis-28353	247	32	}	}	PUNCT
bracis-28353	247	33	\	\	NOUN
bracis-28353	247	34	)	)	PUNCT
bracis-28353	247	35	.	.	PUNCT
bracis-28353	248	1	thus	thus	ADV
bracis-28353	248	2	,	,	PUNCT
bracis-28353	248	3	we	we	PRON
bracis-28353	248	4	have	have	VERB
bracis-28353	248	5	\(s_0	\(s_0	PROPN
bracis-28353	248	6	\in	\in	PROPN
bracis-28353	248	7	s_{\mathcal	s_{\mathcal	X
bracis-28353	248	8	{	{	PUNCT
bracis-28353	248	9	d}[\pi	d}[\pi	PROPN
bracis-28353	248	10	]	]	PUNCT
bracis-28353	248	11	}	}	PUNCT
bracis-28353	248	12	\	\	NOUN
bracis-28353	248	13	)	)	PUNCT
bracis-28353	248	14	satisfying	satisfy	VERB
bracis-28353	248	15	the	the	DET
bracis-28353	248	16	condition	condition	NOUN
bracis-28353	248	17	1	1	NUM
bracis-28353	248	18	.	.	PUNCT
bracis-28353	249	1	since	since	SCONJ
bracis-28353	249	2	there	there	PRON
bracis-28353	249	3	is	be	VERB
bracis-28353	249	4	a	a	DET
bracis-28353	249	5	\(\mathcal	\(\mathcal	ADJ
bracis-28353	249	6	{	{	PUNCT
bracis-28353	249	7	p}_\pi	p}_\pi	NOUN
bracis-28353	249	8	\in	\in	PROPN
bracis-28353	249	9	s_{\mathcal	s_{\mathcal	X
bracis-28353	249	10	{	{	PUNCT
bracis-28353	249	11	d}[\pi	d}[\pi	PROPN
bracis-28353	249	12	]	]	PUNCT
bracis-28353	249	13	}	}	PUNCT
bracis-28353	249	14	\	\	NOUN
bracis-28353	249	15	)	)	PUNCT
bracis-28353	249	16	,	,	PUNCT
bracis-28353	249	17	reaching	reach	VERB
bracis-28353	249	18	a	a	DET
bracis-28353	249	19	goal	goal	NOUN
bracis-28353	249	20	state	state	NOUN
bracis-28353	249	21	,	,	PUNCT
bracis-28353	249	22	from	from	ADP
bracis-28353	249	23	\(s_0\	\(s_0\	PROPN
bracis-28353	249	24	)	)	PUNCT
bracis-28353	249	25	and	and	CCONJ
bracis-28353	249	26	\(\forall	\(\forall	ADV
bracis-28353	249	27	k	k	X
bracis-28353	249	28	,	,	PUNCT
bracis-28353	249	29	0	0	NUM
bracis-28353	249	30	\le	\le	PUNCT
bracis-28353	249	31	k	k	X
bracis-28353	249	32	<	<	X
bracis-28353	249	33	i\	i\	PROPN
bracis-28353	249	34	)	)	PUNCT
bracis-28353	249	35	,	,	PUNCT
bracis-28353	249	36	\	\	PROPN
bracis-28353	249	37	(	(	PUNCT
bracis-28353	249	38	s_{k	s_{k	NOUN
bracis-28353	249	39	}	}	PUNCT
bracis-28353	249	40	\in	\in	PROPN
bracis-28353	249	41	{	{	PUNCT
bracis-28353	249	42	\mathcal	\mathcal	ADJ
bracis-28353	249	43	{	{	PUNCT
bracis-28353	249	44	p}_\pi	p}_\pi	NOUN
bracis-28353	249	45	}	}	PUNCT
bracis-28353	249	46	\	\	NOUN
bracis-28353	249	47	)	)	PUNCT
bracis-28353	249	48	and	and	CCONJ
bracis-28353	249	49	,	,	PUNCT
bracis-28353	249	50	attending	attend	VERB
bracis-28353	249	51	condition	condition	NOUN
bracis-28353	249	52	2	2	NUM
bracis-28353	249	53	.	.	PUNCT
bracis-28353	250	1	furthermore	furthermore	ADV
bracis-28353	250	2	,	,	PUNCT
bracis-28353	250	3	according	accord	VERB
bracis-28353	250	4	\(\alpha	\(\alpha	X
bracis-28353	250	5	\)-ctl	\)-ctl	NOUN
bracis-28353	250	6	semantic	semantic	NOUN
bracis-28353	250	7	,	,	PUNCT
bracis-28353	250	8	there	there	PRON
bracis-28353	250	9	is	be	VERB
bracis-28353	250	10	an	an	DET
bracis-28353	250	11	action	action	NOUN
bracis-28353	250	12	\(a	\(a	NOUN
bracis-28353	250	13	\in	\in	PROPN
bracis-28353	250	14	\mathbb	\mathbb	PROPN
bracis-28353	250	15	{	{	PUNCT
bracis-28353	250	16	a}\	a}\	NUM
bracis-28353	250	17	)	)	PUNCT
bracis-28353	250	18	such	such	ADJ
bracis-28353	250	19	that	that	SCONJ
bracis-28353	250	20	,	,	PUNCT
bracis-28353	250	21	in	in	ADP
bracis-28353	250	22	all	all	DET
bracis-28353	250	23	states	state	NOUN
bracis-28353	250	24	\(s_i\	\(s_i\	NOUN
bracis-28353	250	25	)	)	PUNCT
bracis-28353	250	26	(	(	PUNCT
bracis-28353	250	27	\(i	\(i	NOUN
bracis-28353	250	28	\ge	\ge	PROPN
bracis-28353	250	29	0\	0\	PROPN
bracis-28353	250	30	)	)	PUNCT
bracis-28353	250	31	)	)	PUNCT
bracis-28353	250	32	in	in	ADP
bracis-28353	250	33	all	all	DET
bracis-28353	250	34	paths	path	NOUN
bracis-28353	250	35	,	,	PUNCT
bracis-28353	250	36	starting	start	VERB
bracis-28353	250	37	in	in	ADP
bracis-28353	250	38	\(s_0\	\(s_0\	PROPN
bracis-28353	250	39	)	)	PUNCT
bracis-28353	250	40	,	,	PUNCT
bracis-28353	250	41	we	we	PRON
bracis-28353	250	42	can	can	AUX
bracis-28353	250	43	reach	reach	VERB
bracis-28353	250	44	a	a	DET
bracis-28353	250	45	goal	goal	NOUN
bracis-28353	250	46	state	state	NOUN
bracis-28353	250	47	by	by	ADP
bracis-28353	250	48	visiting	visit	VERB
bracis-28353	250	49	only	only	ADJ
bracis-28353	250	50	states	state	NOUN
bracis-28353	250	51	where	where	SCONJ
bracis-28353	250	52	property	property	NOUN
bracis-28353	250	53	p	p	NOUN
bracis-28353	250	54	is	be	AUX
bracis-28353	250	55	true	true	ADJ
bracis-28353	250	56	.	.	PUNCT
bracis-28353	251	1	thus	thus	ADV
bracis-28353	251	2	,	,	PUNCT
bracis-28353	251	3	the	the	DET
bracis-28353	251	4	condition	condition	NOUN
bracis-28353	251	5	3	3	NUM
bracis-28353	251	6	is	be	AUX
bracis-28353	251	7	also	also	ADV
bracis-28353	251	8	satisfied	satisfied	ADJ
bracis-28353	251	9	.	.	PUNCT
bracis-28353	252	1	5	5	NUM
bracis-28353	252	2	experimental	experimental	ADJ
bracis-28353	252	3	analysis	analysis	NOUN
bracis-28353	252	4	our	our	PRON
bracis-28353	252	5	preliminary	preliminary	ADJ
bracis-28353	252	6	experimental	experimental	ADJ
bracis-28353	252	7	analysis	analysis	NOUN
bracis-28353	252	8	aims	aim	VERB
bracis-28353	252	9	to	to	PART
bracis-28353	252	10	verify	verify	VERB
bracis-28353	252	11	the	the	DET
bracis-28353	252	12	feasibility	feasibility	NOUN
bracis-28353	252	13	of	of	ADP
bracis-28353	252	14	finding	find	VERB
bracis-28353	252	15	policies	policy	NOUN
bracis-28353	252	16	that	that	PRON
bracis-28353	252	17	satisfy	satisfy	VERB
bracis-28353	252	18	the	the	DET
bracis-28353	252	19	qualitative	qualitative	ADJ
bracis-28353	252	20	preferences	preference	NOUN
bracis-28353	252	21	specification	specification	NOUN
bracis-28353	252	22	.	.	PUNCT
bracis-28353	253	1	for	for	ADP
bracis-28353	253	2	this	this	PRON
bracis-28353	253	3	,	,	PUNCT
bracis-28353	253	4	we	we	PRON
bracis-28353	253	5	use	use	VERB
bracis-28353	253	6	the	the	DET
bracis-28353	253	7	deterministic	deterministic	ADJ
bracis-28353	253	8	rover	rover	NOUN
bracis-28353	253	9	domain	domain	NOUN
bracis-28353	253	10	with	with	ADP
bracis-28353	253	11	preferences	preference	NOUN
bracis-28353	253	12	from	from	ADP
bracis-28353	253	13	\(5^{th}\	\(5^{th}\	NOUN
bracis-28353	253	14	)	)	PUNCT
bracis-28353	253	15	international	international	ADJ
bracis-28353	253	16	planning	planning	NOUN
bracis-28353	253	17	competition	competition	NOUN
bracis-28353	253	18	,	,	PUNCT
bracis-28353	253	19	modified	modify	VERB
bracis-28353	253	20	to	to	PART
bracis-28353	253	21	include	include	VERB
bracis-28353	253	22	non	non	ADJ
bracis-28353	253	23	-	-	ADJ
bracis-28353	253	24	deterministic	deterministic	ADJ
bracis-28353	253	25	actions	action	NOUN
bracis-28353	253	26	(	(	PUNCT
bracis-28353	253	27	to	to	ADP
bracis-28353	253	28	the	the	DET
bracis-28353	253	29	best	good	ADJ
bracis-28353	253	30	of	of	ADP
bracis-28353	253	31	our	our	PRON
bracis-28353	253	32	knowledge	knowledge	NOUN
bracis-28353	253	33	,	,	PUNCT
bracis-28353	253	34	there	there	PRON
bracis-28353	253	35	are	be	VERB
bracis-28353	253	36	currently	currently	ADV
bracis-28353	253	37	no	no	DET
bracis-28353	253	38	benchmark	benchmark	ADJ
bracis-28353	253	39	domain	domain	NOUN
bracis-28353	253	40	with	with	ADP
bracis-28353	253	41	these	these	DET
bracis-28353	253	42	characteristics	characteristic	NOUN
bracis-28353	253	43	)	)	PUNCT
bracis-28353	253	44	.	.	PUNCT
bracis-28353	254	1	rovers	rover	NOUN
bracis-28353	254	2	models	model	VERB
bracis-28353	254	3	the	the	DET
bracis-28353	254	4	mission	mission	NOUN
bracis-28353	254	5	of	of	ADP
bracis-28353	254	6	planetary	planetary	ADJ
bracis-28353	254	7	exploration	exploration	NOUN
bracis-28353	254	8	on	on	ADP
bracis-28353	254	9	mars	mar	NOUN
bracis-28353	254	10	,	,	PUNCT
bracis-28353	254	11	where	where	SCONJ
bracis-28353	254	12	rovers	rover	NOUN
bracis-28353	254	13	are	be	AUX
bracis-28353	254	14	equipped	equip	VERB
bracis-28353	254	15	with	with	ADP
bracis-28353	254	16	devices	device	NOUN
bracis-28353	254	17	including	include	VERB
bracis-28353	254	18	cameras	camera	NOUN
bracis-28353	254	19	,	,	PUNCT
bracis-28353	254	20	sample	sample	NOUN
bracis-28353	254	21	collectors	collector	NOUN
bracis-28353	254	22	,	,	PUNCT
bracis-28353	254	23	and	and	CCONJ
bracis-28353	254	24	data	datum	NOUN
bracis-28353	254	25	transmitters	transmitter	NOUN
bracis-28353	254	26	.	.	PUNCT
bracis-28353	255	1	the	the	DET
bracis-28353	255	2	goal	goal	NOUN
bracis-28353	255	3	of	of	ADP
bracis-28353	255	4	the	the	DET
bracis-28353	255	5	rovers	rover	NOUN
bracis-28353	255	6	is	be	AUX
bracis-28353	255	7	to	to	PART
bracis-28353	255	8	explore	explore	VERB
bracis-28353	255	9	the	the	DET
bracis-28353	255	10	planet	planet	NOUN
bracis-28353	255	11	surface	surface	NOUN
bracis-28353	255	12	and	and	CCONJ
bracis-28353	255	13	send	send	VERB
bracis-28353	255	14	the	the	DET
bracis-28353	255	15	collected	collect	VERB
bracis-28353	255	16	data	datum	NOUN
bracis-28353	255	17	to	to	ADP
bracis-28353	255	18	a	a	DET
bracis-28353	255	19	space	space	NOUN
bracis-28353	255	20	station	station	NOUN
bracis-28353	255	21	.	.	PUNCT
bracis-28353	256	1	the	the	DET
bracis-28353	256	2	qualitative	qualitative	ADJ
bracis-28353	256	3	preference	preference	NOUN
bracis-28353	256	4	always	always	ADV
bracis-28353	256	5	entails	entail	VERB
bracis-28353	256	6	preventing	prevent	VERB
bracis-28353	256	7	the	the	DET
bracis-28353	256	8	rover	rover	NOUN
bracis-28353	256	9	from	from	ADP
bracis-28353	256	10	sampling	sample	VERB
bracis-28353	256	11	soil	soil	NOUN
bracis-28353	256	12	and	and	CCONJ
bracis-28353	256	13	rock	rock	NOUN
bracis-28353	256	14	at	at	ADP
bracis-28353	256	15	a	a	DET
bracis-28353	256	16	specific	specific	ADJ
bracis-28353	256	17	waypoint	waypoint	NOUN
bracis-28353	256	18	.	.	PUNCT
bracis-28353	257	1	we	we	PRON
bracis-28353	257	2	use	use	VERB
bracis-28353	257	3	the	the	DET
bracis-28353	257	4	planner	planner	NOUN
bracis-28353	257	5	pactl	pactl	NOUN
bracis-28353	258	1	[	[	X
bracis-28353	258	2	28	28	NUM
bracis-28353	258	3	]	]	PUNCT
bracis-28353	258	4	to	to	PART
bracis-28353	258	5	obtain	obtain	VERB
bracis-28353	258	6	the	the	DET
bracis-28353	258	7	set	set	NOUN
bracis-28353	258	8	of	of	ADP
bracis-28353	258	9	states	state	NOUN
bracis-28353	258	10	satisfying	satisfy	VERB
bracis-28353	258	11	the	the	DET
bracis-28353	258	12	\(\alpha	\(\alpha	ADJ
bracis-28353	258	13	\)-ctl	\)-ctl	PROPN
bracis-28353	258	14	formulas	formula	NOUN
bracis-28353	258	15	specifying	specify	VERB
bracis-28353	258	16	the	the	DET
bracis-28353	258	17	qualitative	qualitative	ADJ
bracis-28353	258	18	preference	preference	NOUN
bracis-28353	258	19	\(\texttt	\(\texttt	NOUN
bracis-28353	258	20	{	{	PUNCT
bracis-28353	258	21	always}\	always}\	NOUN
bracis-28353	258	22	)	)	PUNCT
bracis-28353	258	23	and	and	CCONJ
bracis-28353	258	24	also	also	ADV
bracis-28353	258	25	the	the	DET
bracis-28353	258	26	quality	quality	NOUN
bracis-28353	258	27	of	of	ADP
bracis-28353	258	28	the	the	DET
bracis-28353	258	29	policy	policy	NOUN
bracis-28353	258	30	.	.	PUNCT
bracis-28353	259	1	the	the	DET
bracis-28353	259	2	experiments	experiment	NOUN
bracis-28353	259	3	were	be	AUX
bracis-28353	259	4	performed	perform	VERB
bracis-28353	259	5	on	on	ADP
bracis-28353	259	6	a	a	DET
bracis-28353	259	7	xeon	xeon	PROPN
bracis-28353	259	8	quad	quad	PROPN
bracis-28353	259	9	core	core	NOUN
bracis-28353	259	10	server	server	NOUN
bracis-28353	259	11	with	with	ADP
bracis-28353	259	12	16	16	NUM
bracis-28353	259	13	gb	gb	NOUN
bracis-28353	259	14	of	of	ADP
bracis-28353	259	15	ram	ram	NOUN
bracis-28353	259	16	.	.	PUNCT
bracis-28353	260	1	a	a	DET
bracis-28353	260	2	timeout	timeout	NOUN
bracis-28353	260	3	of	of	ADP
bracis-28353	260	4	45	45	NUM
bracis-28353	260	5	 	 	SPACE
bracis-28353	260	6	min	min	NOUN
bracis-28353	260	7	was	be	AUX
bracis-28353	260	8	set	set	VERB
bracis-28353	260	9	for	for	ADP
bracis-28353	260	10	solving	solve	VERB
bracis-28353	260	11	each	each	DET
bracis-28353	260	12	instance	instance	NOUN
bracis-28353	260	13	.	.	PUNCT
bracis-28353	261	1	table	table	NOUN
bracis-28353	261	2	 	 	SPACE
bracis-28353	261	3	1	1	NUM
bracis-28353	261	4	presents	present	NOUN
bracis-28353	261	5	,	,	PUNCT
bracis-28353	261	6	for	for	SCONJ
bracis-28353	261	7	each	each	DET
bracis-28353	261	8	instance	instance	NOUN
bracis-28353	261	9	and	and	CCONJ
bracis-28353	261	10	qualitative	qualitative	ADJ
bracis-28353	261	11	preference	preference	NOUN
bracis-28353	261	12	specified	specify	VERB
bracis-28353	261	13	,	,	PUNCT
bracis-28353	261	14	the	the	DET
bracis-28353	261	15	execution	execution	NOUN
bracis-28353	261	16	time	time	NOUN
bracis-28353	261	17	and	and	CCONJ
bracis-28353	261	18	number	number	NOUN
bracis-28353	261	19	of	of	ADP
bracis-28353	261	20	steps	step	NOUN
bracis-28353	261	21	to	to	PART
bracis-28353	261	22	obtain	obtain	VERB
bracis-28353	261	23	a	a	DET
bracis-28353	261	24	policy	policy	NOUN
bracis-28353	261	25	.	.	PUNCT
bracis-28353	262	1	the	the	DET
bracis-28353	262	2	symbol	symbol	NOUN
bracis-28353	262	3	“	"	PUNCT
bracis-28353	262	4	-	-	PUNCT
bracis-28353	262	5	”	"	PUNCT
bracis-28353	262	6	indicates	indicate	VERB
bracis-28353	262	7	that	that	SCONJ
bracis-28353	262	8	timeout	timeout	NOUN
bracis-28353	262	9	was	be	AUX
bracis-28353	262	10	reached	reach	VERB
bracis-28353	262	11	.	.	PUNCT
bracis-28353	263	1	the	the	DET
bracis-28353	263	2	instances	instance	NOUN
bracis-28353	263	3	have	have	VERB
bracis-28353	263	4	different	different	ADJ
bracis-28353	263	5	levels	level	NOUN
bracis-28353	263	6	of	of	ADP
bracis-28353	263	7	difficulty	difficulty	NOUN
bracis-28353	263	8	,	,	PUNCT
bracis-28353	263	9	which	which	PRON
bracis-28353	263	10	are	be	AUX
bracis-28353	263	11	characterized	characterize	VERB
bracis-28353	263	12	by	by	ADP
bracis-28353	263	13	factors	factor	NOUN
bracis-28353	263	14	such	such	ADJ
bracis-28353	263	15	as	as	ADP
bracis-28353	263	16	the	the	DET
bracis-28353	263	17	number	number	NOUN
bracis-28353	263	18	of	of	ADP
bracis-28353	263	19	regions	region	NOUN
bracis-28353	263	20	that	that	PRON
bracis-28353	263	21	need	need	VERB
bracis-28353	263	22	to	to	PART
bracis-28353	263	23	be	be	AUX
bracis-28353	263	24	traversed	traverse	VERB
bracis-28353	263	25	,	,	PUNCT
bracis-28353	263	26	the	the	DET
bracis-28353	263	27	number	number	NOUN
bracis-28353	263	28	of	of	ADP
bracis-28353	263	29	goals	goal	NOUN
bracis-28353	263	30	to	to	PART
bracis-28353	263	31	be	be	AUX
bracis-28353	263	32	achieved	achieve	VERB
bracis-28353	263	33	,	,	PUNCT
bracis-28353	263	34	and	and	CCONJ
bracis-28353	263	35	the	the	DET
bracis-28353	263	36	number	number	NOUN
bracis-28353	263	37	of	of	ADP
bracis-28353	263	38	rovers	rover	NOUN
bracis-28353	263	39	involved	involve	VERB
bracis-28353	263	40	.	.	PUNCT
bracis-28353	264	1	the	the	DET
bracis-28353	264	2	planner	planner	NOUN
bracis-28353	264	3	found	find	VERB
bracis-28353	264	4	strong	strong	ADJ
bracis-28353	264	5	,	,	PUNCT
bracis-28353	264	6	weak	weak	ADJ
bracis-28353	264	7	,	,	PUNCT
bracis-28353	264	8	and	and	CCONJ
bracis-28353	264	9	strong	strong	ADJ
bracis-28353	264	10	-	-	PUNCT
bracis-28353	264	11	cyclic	cyclic	ADJ
bracis-28353	264	12	policies	policy	NOUN
bracis-28353	264	13	for	for	ADP
bracis-28353	264	14	all	all	DET
bracis-28353	264	15	instances	instance	NOUN
bracis-28353	264	16	from	from	ADP
bracis-28353	264	17	1	1	NUM
bracis-28353	264	18	to	to	PART
bracis-28353	264	19	8	8	NUM
bracis-28353	264	20	(	(	PUNCT
bracis-28353	264	21	except	except	SCONJ
bracis-28353	264	22	for	for	ADP
bracis-28353	264	23	instance	instance	NOUN
bracis-28353	264	24	6	6	NUM
bracis-28353	264	25	)	)	PUNCT
bracis-28353	264	26	.	.	PUNCT
bracis-28353	265	1	starting	start	VERB
bracis-28353	265	2	with	with	ADP
bracis-28353	265	3	instance	instance	NOUN
bracis-28353	265	4	9	9	NUM
bracis-28353	265	5	,	,	PUNCT
bracis-28353	265	6	the	the	DET
bracis-28353	265	7	planner	planner	NOUN
bracis-28353	265	8	was	be	AUX
bracis-28353	265	9	able	able	ADJ
bracis-28353	265	10	to	to	PART
bracis-28353	265	11	find	find	VERB
bracis-28353	265	12	solutions	solution	NOUN
bracis-28353	265	13	to	to	ADP
bracis-28353	265	14	problems	problem	NOUN
bracis-28353	265	15	14	14	NUM
bracis-28353	265	16	and	and	CCONJ
bracis-28353	265	17	19	19	NUM
bracis-28353	265	18	.	.	PUNCT
bracis-28353	266	1	in	in	ADP
bracis-28353	266	2	cases	case	NOUN
bracis-28353	266	3	where	where	SCONJ
bracis-28353	266	4	the	the	DET
bracis-28353	266	5	planner	planner	NOUN
bracis-28353	266	6	fails	fail	VERB
bracis-28353	266	7	to	to	PART
bracis-28353	266	8	find	find	VERB
bracis-28353	266	9	a	a	DET
bracis-28353	266	10	solution	solution	NOUN
bracis-28353	266	11	,	,	PUNCT
bracis-28353	266	12	it	it	PRON
bracis-28353	266	13	is	be	AUX
bracis-28353	266	14	difficult	difficult	ADJ
bracis-28353	266	15	to	to	PART
bracis-28353	266	16	distinguish	distinguish	VERB
bracis-28353	266	17	either	either	CCONJ
bracis-28353	266	18	there	there	PRON
bracis-28353	266	19	is	be	VERB
bracis-28353	266	20	no	no	DET
bracis-28353	266	21	solution	solution	NOUN
bracis-28353	266	22	to	to	ADP
bracis-28353	266	23	the	the	DET
bracis-28353	266	24	problem	problem	NOUN
bracis-28353	266	25	,	,	PUNCT
bracis-28353	266	26	or	or	CCONJ
bracis-28353	266	27	the	the	DET
bracis-28353	266	28	planner	planner	NOUN
bracis-28353	266	29	was	be	AUX
bracis-28353	266	30	unable	unable	ADJ
bracis-28353	266	31	to	to	PART
bracis-28353	266	32	find	find	VERB
bracis-28353	266	33	the	the	DET
bracis-28353	266	34	solution	solution	NOUN
bracis-28353	266	35	without	without	ADP
bracis-28353	266	36	exceed	exceed	VERB
bracis-28353	266	37	the	the	DET
bracis-28353	266	38	timeout	timeout	NOUN
bracis-28353	266	39	.	.	PUNCT
bracis-28353	267	1	table	table	NOUN
bracis-28353	267	2	1	1	NUM
bracis-28353	267	3	.	.	NOUN
bracis-28353	267	4	time	time	NOUN
bracis-28353	267	5	and	and	CCONJ
bracis-28353	267	6	number	number	NOUN
bracis-28353	267	7	of	of	ADP
bracis-28353	267	8	steps	step	NOUN
bracis-28353	267	9	to	to	PART
bracis-28353	267	10	compute	compute	VERB
bracis-28353	267	11	policies	policy	NOUN
bracis-28353	267	12	with	with	ADP
bracis-28353	267	13	preferences.full	preferences.full	NOUN
bracis-28353	267	14	size	size	NOUN
bracis-28353	267	15	table	table	NOUN
bracis-28353	267	16	6	6	NUM
bracis-28353	267	17	conclusion	conclusion	NOUN
bracis-28353	267	18	and	and	CCONJ
bracis-28353	267	19	 	 	SPACE
bracis-28353	267	20	future	future	ADJ
bracis-28353	267	21	work	work	NOUN
bracis-28353	267	22	in	in	ADP
bracis-28353	267	23	this	this	DET
bracis-28353	267	24	work	work	NOUN
bracis-28353	268	1	,	,	PUNCT
bracis-28353	268	2	we	we	PRON
bracis-28353	268	3	propose	propose	VERB
bracis-28353	268	4	using	use	VERB
bracis-28353	268	5	the	the	DET
bracis-28353	268	6	\(\alpha	\(\alpha	ADJ
bracis-28353	268	7	\)-ctl	\)-ctl	ADJ
bracis-28353	268	8	temporal	temporal	ADJ
bracis-28353	268	9	logic	logic	NOUN
bracis-28353	268	10	to	to	PART
bracis-28353	268	11	specify	specify	VERB
bracis-28353	268	12	the	the	DET
bracis-28353	268	13	always	always	ADV
bracis-28353	268	14	qualitative	qualitative	ADJ
bracis-28353	268	15	preference	preference	NOUN
bracis-28353	268	16	in	in	ADP
bracis-28353	268	17	non	non	ADJ
bracis-28353	268	18	-	-	ADJ
bracis-28353	268	19	deterministic	deterministic	ADJ
bracis-28353	268	20	planning	planning	NOUN
bracis-28353	268	21	problems	problem	NOUN
bracis-28353	268	22	.	.	PUNCT
bracis-28353	269	1	in	in	ADP
bracis-28353	269	2	order	order	NOUN
bracis-28353	269	3	to	to	PART
bracis-28353	269	4	obtain	obtain	VERB
bracis-28353	269	5	weak	weak	ADJ
bracis-28353	269	6	,	,	PUNCT
bracis-28353	269	7	strong	strong	ADJ
bracis-28353	269	8	,	,	PUNCT
bracis-28353	269	9	or	or	CCONJ
bracis-28353	269	10	strong	strong	ADJ
bracis-28353	269	11	cyclic	cyclic	ADJ
bracis-28353	269	12	policies	policy	NOUN
bracis-28353	269	13	for	for	ADP
bracis-28353	269	14	non	non	ADJ
bracis-28353	269	15	-	-	ADJ
bracis-28353	269	16	deterministic	deterministic	ADJ
bracis-28353	269	17	problems	problem	NOUN
bracis-28353	269	18	with	with	ADP
bracis-28353	269	19	qualitative	qualitative	ADJ
bracis-28353	269	20	preferences	preference	NOUN
bracis-28353	269	21	,	,	PUNCT
bracis-28353	269	22	we	we	PRON
bracis-28353	269	23	employ	employ	VERB
bracis-28353	269	24	planning	planning	NOUN
bracis-28353	269	25	as	as	ADP
bracis-28353	269	26	\(\alpha	\(\alpha	NOUN
bracis-28353	269	27	\)-ctl	\)-ctl	NOUN
bracis-28353	269	28	model	model	NOUN
bracis-28353	269	29	checking	check	VERB
bracis-28353	269	30	algorithms	algorithm	NOUN
bracis-28353	269	31	.	.	PUNCT
bracis-28353	270	1	to	to	PART
bracis-28353	270	2	demonstrate	demonstrate	VERB
bracis-28353	270	3	the	the	DET
bracis-28353	270	4	suitability	suitability	NOUN
bracis-28353	270	5	of	of	ADP
bracis-28353	270	6	these	these	DET
bracis-28353	270	7	algorithms	algorithm	NOUN
bracis-28353	270	8	for	for	ADP
bracis-28353	270	9	solving	solve	VERB
bracis-28353	270	10	non	non	ADJ
bracis-28353	270	11	-	-	ADJ
bracis-28353	270	12	deterministic	deterministic	ADJ
bracis-28353	270	13	problems	problem	NOUN
bracis-28353	270	14	with	with	ADP
bracis-28353	270	15	qualitative	qualitative	ADJ
bracis-28353	270	16	preferences	preference	NOUN
bracis-28353	270	17	,	,	PUNCT
bracis-28353	270	18	we	we	PRON
bracis-28353	270	19	modify	modify	VERB
bracis-28353	270	20	the	the	DET
bracis-28353	270	21	existing	exist	VERB
bracis-28353	270	22	deterministic	deterministic	ADJ
bracis-28353	270	23	rover	rover	NOUN
bracis-28353	270	24	domain	domain	NOUN
bracis-28353	270	25	with	with	ADP
bracis-28353	270	26	preferences	preference	NOUN
bracis-28353	270	27	by	by	ADP
bracis-28353	270	28	incorporating	incorporate	VERB
bracis-28353	270	29	non	non	ADJ
bracis-28353	270	30	-	-	ADJ
bracis-28353	270	31	deterministic	deterministic	ADJ
bracis-28353	270	32	effects	effect	NOUN
bracis-28353	270	33	on	on	ADP
bracis-28353	270	34	the	the	DET
bracis-28353	270	35	actions	action	NOUN
bracis-28353	270	36	.	.	PUNCT
bracis-28353	271	1	the	the	DET
bracis-28353	271	2	instances	instance	NOUN
bracis-28353	271	3	of	of	ADP
bracis-28353	271	4	this	this	DET
bracis-28353	271	5	modified	modify	VERB
bracis-28353	271	6	domain	domain	NOUN
bracis-28353	271	7	were	be	AUX
bracis-28353	271	8	used	use	VERB
bracis-28353	271	9	in	in	ADP
bracis-28353	271	10	our	our	PRON
bracis-28353	271	11	experiments	experiment	NOUN
bracis-28353	271	12	,	,	PUNCT
bracis-28353	271	13	which	which	PRON
bracis-28353	271	14	aimed	aim	VERB
bracis-28353	271	15	to	to	PART
bracis-28353	271	16	show	show	VERB
bracis-28353	271	17	that	that	SCONJ
bracis-28353	271	18	planning	planning	NOUN
bracis-28353	271	19	as	as	ADP
bracis-28353	271	20	model	model	NOUN
bracis-28353	271	21	checking	check	VERB
bracis-28353	271	22	algorithms	algorithm	NOUN
bracis-28353	271	23	can	can	AUX
bracis-28353	271	24	effectively	effectively	ADV
bracis-28353	271	25	provide	provide	VERB
bracis-28353	271	26	solutions	solution	NOUN
bracis-28353	271	27	for	for	ADP
bracis-28353	271	28	non	non	ADJ
bracis-28353	271	29	-	-	ADJ
bracis-28353	271	30	deterministic	deterministic	ADJ
bracis-28353	271	31	problems	problem	NOUN
bracis-28353	271	32	with	with	ADP
bracis-28353	271	33	qualitative	qualitative	ADJ
bracis-28353	271	34	preferences	preference	NOUN
bracis-28353	271	35	while	while	SCONJ
bracis-28353	271	36	considering	consider	VERB
bracis-28353	271	37	the	the	DET
bracis-28353	271	38	policy	policy	NOUN
bracis-28353	271	39	quality	quality	NOUN
bracis-28353	271	40	.	.	PUNCT
bracis-28353	272	1	to	to	ADP
bracis-28353	272	2	the	the	DET
bracis-28353	272	3	best	good	ADJ
bracis-28353	272	4	of	of	ADP
bracis-28353	272	5	our	our	PRON
bracis-28353	272	6	knowledge	knowledge	NOUN
bracis-28353	272	7	,	,	PUNCT
bracis-28353	272	8	this	this	PRON
bracis-28353	272	9	is	be	AUX
bracis-28353	272	10	the	the	DET
bracis-28353	272	11	first	first	ADJ
bracis-28353	272	12	work	work	NOUN
bracis-28353	272	13	that	that	PRON
bracis-28353	272	14	addresses	address	VERB
bracis-28353	272	15	non	non	ADJ
bracis-28353	272	16	-	-	ADJ
bracis-28353	272	17	deterministic	deterministic	ADJ
bracis-28353	272	18	problems	problem	NOUN
bracis-28353	272	19	with	with	ADP
bracis-28353	272	20	preferences	preference	NOUN
bracis-28353	272	21	while	while	SCONJ
bracis-28353	272	22	incorporating	incorporate	VERB
bracis-28353	272	23	a	a	DET
bracis-28353	272	24	preference	preference	NOUN
bracis-28353	272	25	over	over	ADP
bracis-28353	272	26	the	the	DET
bracis-28353	272	27	policy	policy	NOUN
bracis-28353	272	28	quality	quality	NOUN
bracis-28353	272	29	.	.	PUNCT
bracis-28353	273	1	as	as	ADP
bracis-28353	273	2	future	future	ADJ
bracis-28353	273	3	work	work	NOUN
bracis-28353	273	4	,	,	PUNCT
bracis-28353	273	5	we	we	PRON
bracis-28353	273	6	aim	aim	VERB
bracis-28353	273	7	to	to	PART
bracis-28353	273	8	investigate	investigate	VERB
bracis-28353	273	9	the	the	DET
bracis-28353	273	10	suitability	suitability	NOUN
bracis-28353	273	11	of	of	ADP
bracis-28353	273	12	the	the	DET
bracis-28353	273	13	\(\alpha	\(\alpha	ADJ
bracis-28353	273	14	\)-ctl	\)-ctl	NOUN
bracis-28353	273	15	logic	logic	NOUN
bracis-28353	273	16	in	in	ADP
bracis-28353	273	17	expressing	express	VERB
bracis-28353	273	18	others	other	NOUN
bracis-28353	273	19	types	type	NOUN
bracis-28353	273	20	of	of	ADP
bracis-28353	273	21	qualitative	qualitative	ADJ
bracis-28353	273	22	preferences	preference	NOUN
bracis-28353	273	23	and	and	CCONJ
bracis-28353	273	24	,	,	PUNCT
bracis-28353	273	25	consequently	consequently	ADV
bracis-28353	273	26	,	,	PUNCT
bracis-28353	273	27	if	if	SCONJ
bracis-28353	273	28	planning	plan	VERB
bracis-28353	273	29	as	as	ADP
bracis-28353	273	30	model	model	NOUN
bracis-28353	273	31	checking	check	VERB
bracis-28353	273	32	algorithms	algorithm	NOUN
bracis-28353	273	33	are	be	AUX
bracis-28353	273	34	appropriated	appropriate	VERB
bracis-28353	273	35	to	to	PART
bracis-28353	273	36	solve	solve	VERB
bracis-28353	273	37	non	non	ADJ
bracis-28353	273	38	-	-	ADJ
bracis-28353	273	39	deterministic	deterministic	ADJ
bracis-28353	273	40	planning	planning	NOUN
bracis-28353	273	41	problems	problem	NOUN
bracis-28353	273	42	with	with	ADP
bracis-28353	273	43	these	these	DET
bracis-28353	273	44	others	other	NOUN
bracis-28353	273	45	kinds	kind	NOUN
bracis-28353	273	46	of	of	ADP
bracis-28353	273	47	preferences	preference	NOUN
bracis-28353	273	48	.	.	PUNCT
bracis-28353	274	1	furthermore	furthermore	ADV
bracis-28353	274	2	,	,	PUNCT
bracis-28353	274	3	we	we	PRON
bracis-28353	274	4	aim	aim	VERB
bracis-28353	274	5	to	to	PART
bracis-28353	274	6	conduct	conduct	VERB
bracis-28353	274	7	experiments	experiment	NOUN
bracis-28353	274	8	using	use	VERB
bracis-28353	274	9	different	different	ADJ
bracis-28353	274	10	benchmark	benchmark	NOUN
bracis-28353	274	11	domains	domain	NOUN
bracis-28353	274	12	.	.	PUNCT
bracis-28353	275	1	references	reference	NOUN
bracis-28353	275	2	akers	akers	PROPN
bracis-28353	275	3	,	,	PUNCT
bracis-28353	275	4	s.b	s.b	PROPN
bracis-28353	275	5	.	.	PROPN
bracis-28353	275	6	:	:	PUNCT
bracis-28353	276	1	binary	binary	ADJ
bracis-28353	276	2	decision	decision	NOUN
bracis-28353	276	3	diagrams	diagram	NOUN
bracis-28353	276	4	.	.	PUNCT
bracis-28353	277	1	ieee	ieee	PROPN
bracis-28353	277	2	trans	trans	PROPN
bracis-28353	277	3	.	.	PUNCT
bracis-28353	278	1	comput	comput	NOUN
bracis-28353	278	2	.	.	PUNCT
bracis-28353	279	1	27(06	27(06	NUM
bracis-28353	279	2	)	)	PUNCT
bracis-28353	279	3	,	,	PUNCT
bracis-28353	280	1	509–516	509–516	NUM
bracis-28353	280	2	(	(	PUNCT
bracis-28353	280	3	1978	1978	NUM
bracis-28353	280	4	)	)	PUNCT
bracis-28353	280	5	article	article	NOUN
bracis-28353	280	6	  	  	SPACE
bracis-28353	280	7	math	math	NOUN
bracis-28353	280	8	  	  	SPACE
bracis-28353	280	9	google	google	PROPN
bracis-28353	280	10	scholar	scholar	NOUN
bracis-28353	280	11	  	  	SPACE
bracis-28353	280	12	baier	baier	NOUN
bracis-28353	280	13	,	,	PUNCT
bracis-28353	280	14	j.a	j.a	PROPN
bracis-28353	280	15	.	.	PROPN
bracis-28353	280	16	,	,	PUNCT
bracis-28353	280	17	bacchus	bacchus	PROPN
bracis-28353	280	18	,	,	PUNCT
bracis-28353	280	19	f.	f.	PROPN
bracis-28353	280	20	,	,	PUNCT
bracis-28353	280	21	mcilraith	mcilraith	PROPN
bracis-28353	280	22	,	,	PUNCT
bracis-28353	280	23	s.a	s.a	PROPN
bracis-28353	280	24	.	.	PROPN
bracis-28353	280	25	:	:	PUNCT
bracis-28353	281	1	a	a	DET
bracis-28353	281	2	heuristic	heuristic	ADJ
bracis-28353	281	3	search	search	NOUN
bracis-28353	281	4	approach	approach	NOUN
bracis-28353	281	5	to	to	ADP
bracis-28353	281	6	planning	plan	VERB
bracis-28353	281	7	with	with	ADP
bracis-28353	281	8	temporally	temporally	ADV
bracis-28353	281	9	extended	extended	ADJ
bracis-28353	281	10	preferences	preference	NOUN
bracis-28353	281	11	.	.	PUNCT
bracis-28353	282	1	in	in	ADP
bracis-28353	282	2	:	:	PUNCT
bracis-28353	282	3	proceedings	proceeding	NOUN
bracis-28353	282	4	of	of	ADP
bracis-28353	282	5	the	the	DET
bracis-28353	282	6	20th	20th	ADJ
bracis-28353	282	7	international	international	ADJ
bracis-28353	282	8	joint	joint	ADJ
bracis-28353	282	9	conference	conference	NOUN
bracis-28353	282	10	on	on	ADP
bracis-28353	282	11	artifical	artifical	ADJ
bracis-28353	282	12	intelligence	intelligence	NOUN
bracis-28353	282	13	,	,	PUNCT
bracis-28353	282	14	pp	pp	ADP
bracis-28353	282	15	.	.	PUNCT
bracis-28353	282	16	1808–1815	1808–1815	NUM
bracis-28353	282	17	(	(	PUNCT
bracis-28353	282	18	2007	2007	NUM
bracis-28353	282	19	)	)	PUNCT
bracis-28353	282	20	google	google	PROPN
bracis-28353	282	21	scholar	scholar	NOUN
bracis-28353	282	22	  	  	SPACE
bracis-28353	282	23	baier	baier	NOUN
bracis-28353	282	24	,	,	PUNCT
bracis-28353	282	25	s.	s.	PROPN
bracis-28353	282	26	,	,	PUNCT
bracis-28353	282	27	mcilraith	mcilraith	PROPN
bracis-28353	282	28	,	,	PUNCT
bracis-28353	282	29	s.a	s.a	PROPN
bracis-28353	282	30	.	.	PROPN
bracis-28353	282	31	:	:	PUNCT
bracis-28353	283	1	htn	htn	PROPN
bracis-28353	283	2	planning	plan	VERB
bracis-28353	283	3	with	with	ADP
bracis-28353	283	4	preferences	preference	NOUN
bracis-28353	283	5	.	.	PUNCT
bracis-28353	284	1	in	in	ADP
bracis-28353	284	2	:	:	PUNCT
bracis-28353	284	3	21st	21st	ADJ
bracis-28353	284	4	int	int	NOUN
bracis-28353	284	5	.	.	PUNCT
bracis-28353	285	1	joint	joint	ADJ
bracis-28353	285	2	conf	conf	NOUN
bracis-28353	285	3	.	.	PUNCT
bracis-28353	286	1	on	on	ADP
bracis-28353	286	2	artificial	artificial	ADJ
bracis-28353	286	3	intelligence	intelligence	NOUN
bracis-28353	286	4	,	,	PUNCT
bracis-28353	286	5	pp	pp	ADP
bracis-28353	286	6	.	.	PUNCT
bracis-28353	287	1	1790–1797	1790–1797	NUM
bracis-28353	287	2	(	(	PUNCT
bracis-28353	287	3	2009	2009	NUM
bracis-28353	287	4	)	)	PUNCT
bracis-28353	287	5	google	google	PROPN
bracis-28353	287	6	scholar	scholar	NOUN
bracis-28353	287	7	  	  	SPACE
bracis-28353	287	8	bonet	bonet	PROPN
bracis-28353	287	9	,	,	PUNCT
bracis-28353	287	10	b.	b.	PROPN
bracis-28353	287	11	,	,	PUNCT
bracis-28353	287	12	de	de	NOUN
bracis-28353	287	13	 	 	SPACE
bracis-28353	287	14	giacomo	giacomo	NOUN
bracis-28353	287	15	,	,	PUNCT
bracis-28353	287	16	g.	g.	PROPN
bracis-28353	287	17	,	,	PUNCT
bracis-28353	287	18	geffner	geffner	PROPN
bracis-28353	287	19	,	,	PUNCT
bracis-28353	287	20	h.	h.	PROPN
bracis-28353	287	21	,	,	PUNCT
bracis-28353	287	22	rubin	rubin	PROPN
bracis-28353	287	23	,	,	PUNCT
bracis-28353	287	24	s.	s.	PROPN
bracis-28353	287	25	:	:	PUNCT
bracis-28353	287	26	generalized	generalized	ADJ
bracis-28353	287	27	planning	planning	NOUN
bracis-28353	287	28	:	:	PUNCT
bracis-28353	287	29	non	non	ADJ
bracis-28353	287	30	-	-	ADJ
bracis-28353	287	31	deterministic	deterministic	ADJ
bracis-28353	287	32	abstractions	abstraction	NOUN
bracis-28353	287	33	and	and	CCONJ
bracis-28353	287	34	trajectory	trajectory	NOUN
bracis-28353	287	35	constraints	constraint	NOUN
bracis-28353	287	36	.	.	PUNCT
bracis-28353	288	1	arxiv	arxiv	PROPN
bracis-28353	288	2	preprint	preprint	NOUN
bracis-28353	288	3	arxiv:1909.12135	arxiv:1909.12135	X
bracis-28353	289	1	[	[	X
bracis-28353	289	2	s.l	s.l	X
bracis-28353	289	3	]	]	X
bracis-28353	289	4	(	(	PUNCT
bracis-28353	289	5	2019	2019	NUM
bracis-28353	289	6	)	)	PUNCT
bracis-28353	289	7	camacho	camacho	PROPN
bracis-28353	289	8	,	,	PUNCT
bracis-28353	289	9	a.	a.	NOUN
bracis-28353	289	10	,	,	PUNCT
bracis-28353	289	11	triantafillou	triantafillou	PROPN
bracis-28353	289	12	,	,	PUNCT
bracis-28353	289	13	e.	e.	PROPN
bracis-28353	289	14	,	,	PUNCT
bracis-28353	289	15	muise	muise	PROPN
bracis-28353	289	16	,	,	PUNCT
bracis-28353	289	17	c.	c.	PROPN
bracis-28353	289	18	,	,	PUNCT
bracis-28353	289	19	baier	baier	NOUN
bracis-28353	289	20	,	,	PUNCT
bracis-28353	289	21	j.a	j.a	PROPN
bracis-28353	289	22	.	.	PROPN
bracis-28353	289	23	,	,	PUNCT
bracis-28353	289	24	mcilraith	mcilraith	PROPN
bracis-28353	289	25	,	,	PUNCT
bracis-28353	289	26	s.a	s.a	PROPN
bracis-28353	289	27	.	.	PROPN
bracis-28353	289	28	:	:	PUNCT
bracis-28353	289	29	non	non	ADJ
bracis-28353	289	30	-	-	ADJ
bracis-28353	289	31	deterministic	deterministic	ADJ
bracis-28353	289	32	planning	planning	NOUN
bracis-28353	289	33	with	with	ADP
bracis-28353	289	34	temporally	temporally	ADV
bracis-28353	289	35	extended	extended	ADJ
bracis-28353	289	36	goals	goal	NOUN
bracis-28353	289	37	:	:	PUNCT
bracis-28353	289	38	ltl	ltl	PROPN
bracis-28353	289	39	over	over	ADP
bracis-28353	289	40	finite	finite	NOUN
bracis-28353	289	41	and	and	CCONJ
bracis-28353	289	42	infinite	infinite	ADJ
bracis-28353	289	43	traces	trace	NOUN
bracis-28353	289	44	.	.	PUNCT
bracis-28353	290	1	in	in	ADP
bracis-28353	290	2	:	:	PUNCT
bracis-28353	290	3	thirty	thirty	NUM
bracis-28353	290	4	-	-	PUNCT
bracis-28353	290	5	first	first	ADV
bracis-28353	290	6	aaai	aaai	PROPN
bracis-28353	290	7	conference	conference	NOUN
bracis-28353	290	8	on	on	ADP
bracis-28353	290	9	artificial	artificial	ADJ
bracis-28353	290	10	intelligence	intelligence	NOUN
bracis-28353	290	11	(	(	PUNCT
bracis-28353	290	12	2017	2017	NUM
bracis-28353	290	13	)	)	PUNCT
bracis-28353	290	14	google	google	PROPN
bracis-28353	290	15	scholar	scholar	NOUN
bracis-28353	290	16	  	  	SPACE
bracis-28353	290	17	cimatti	cimatti	NOUN
bracis-28353	290	18	,	,	PUNCT
bracis-28353	290	19	a.	a.	NOUN
bracis-28353	290	20	,	,	PUNCT
bracis-28353	290	21	pistore	pistore	NOUN
bracis-28353	290	22	,	,	PUNCT
bracis-28353	290	23	m.	m.	NOUN
bracis-28353	290	24	,	,	PUNCT
bracis-28353	290	25	roveri	roveri	ADJ
bracis-28353	290	26	,	,	PUNCT
bracis-28353	290	27	m.	m.	NOUN
bracis-28353	290	28	,	,	PUNCT
bracis-28353	290	29	traverso	traverso	PROPN
bracis-28353	290	30	,	,	PUNCT
bracis-28353	290	31	p.	p.	NOUN
bracis-28353	290	32	:	:	PUNCT
bracis-28353	290	33	weak	weak	ADJ
bracis-28353	290	34	,	,	PUNCT
bracis-28353	290	35	strong	strong	ADJ
bracis-28353	290	36	,	,	PUNCT
bracis-28353	290	37	and	and	CCONJ
bracis-28353	290	38	strong	strong	ADJ
bracis-28353	290	39	cyclic	cyclic	ADJ
bracis-28353	290	40	planning	planning	NOUN
bracis-28353	290	41	via	via	ADP
bracis-28353	290	42	symbolic	symbolic	ADJ
bracis-28353	290	43	model	model	NOUN
bracis-28353	290	44	checking	checking	NOUN
bracis-28353	290	45	.	.	PUNCT
bracis-28353	291	1	artif	artif	INTJ
bracis-28353	291	2	.	.	PUNCT
bracis-28353	292	1	intell	intell	PROPN
bracis-28353	292	2	.	.	PUNCT
bracis-28353	293	1	147(1–2	147(1–2	NUM
bracis-28353	293	2	)	)	PUNCT
bracis-28353	293	3	,	,	PUNCT
bracis-28353	293	4	35–84	35–84	NUM
bracis-28353	293	5	(	(	PUNCT
bracis-28353	293	6	2003	2003	NUM
bracis-28353	293	7	)	)	PUNCT
bracis-28353	293	8	article	article	NOUN
bracis-28353	293	9	  	  	SPACE
bracis-28353	293	10	mathscinet	mathscinet	NOUN
bracis-28353	293	11	  	  	SPACE
bracis-28353	293	12	math	math	NOUN
bracis-28353	293	13	  	  	SPACE
bracis-28353	293	14	google	google	PROPN
bracis-28353	293	15	scholar	scholar	NOUN
bracis-28353	293	16	  	  	SPACE
bracis-28353	293	17	edmund	edmund	PROPN
bracis-28353	293	18	,	,	PUNCT
bracis-28353	293	19	m.	m.	NOUN
bracis-28353	293	20	,	,	PUNCT
bracis-28353	293	21	clarke	clarke	PROPN
bracis-28353	293	22	,	,	PUNCT
bracis-28353	293	23	j.	j.	PROPN
bracis-28353	293	24	,	,	PUNCT
bracis-28353	293	25	grumberg	grumberg	PROPN
bracis-28353	293	26	,	,	PUNCT
bracis-28353	293	27	o.	o.	PROPN
bracis-28353	293	28	,	,	PUNCT
bracis-28353	293	29	peled	pele	VERB
bracis-28353	293	30	,	,	PUNCT
bracis-28353	293	31	d.a	d.a	PROPN
bracis-28353	293	32	.	.	PROPN
bracis-28353	293	33	:	:	PUNCT
bracis-28353	294	1	model	model	NOUN
bracis-28353	294	2	checking	checking	NOUN
bracis-28353	294	3	.	.	PUNCT
bracis-28353	295	1	mit	mit	PROPN
bracis-28353	295	2	press	press	NOUN
bracis-28353	295	3	.	.	PUNCT
bracis-28353	296	1	[	[	X
bracis-28353	296	2	s.l	s.l	X
bracis-28353	296	3	]	]	X
bracis-28353	296	4	p.	p.	NOUN
bracis-28353	296	5	314	314	NUM
bracis-28353	296	6	(	(	PUNCT
bracis-28353	296	7	1999	1999	NUM
bracis-28353	296	8	)	)	PUNCT
bracis-28353	296	9	google	google	PROPN
bracis-28353	296	10	scholar	scholar	NOUN
bracis-28353	296	11	  	  	SPACE
bracis-28353	296	12	gerevini	gerevini	NOUN
bracis-28353	296	13	,	,	PUNCT
bracis-28353	296	14	a.e	a.e	PROPN
bracis-28353	296	15	.	.	PROPN
bracis-28353	296	16	,	,	PUNCT
bracis-28353	296	17	haslum	haslum	NOUN
bracis-28353	296	18	,	,	PUNCT
bracis-28353	296	19	p.	p.	NOUN
bracis-28353	296	20	,	,	PUNCT
bracis-28353	296	21	long	long	ADV
bracis-28353	296	22	,	,	PUNCT
bracis-28353	296	23	d.	d.	PROPN
bracis-28353	296	24	,	,	PUNCT
bracis-28353	296	25	saetti	saetti	PROPN
bracis-28353	296	26	,	,	PUNCT
bracis-28353	296	27	a.	a.	NOUN
bracis-28353	296	28	,	,	PUNCT
bracis-28353	296	29	dimopoulos	dimopoulo	NOUN
bracis-28353	296	30	,	,	PUNCT
bracis-28353	296	31	y.	y.	NOUN
bracis-28353	296	32	:	:	PUNCT
bracis-28353	296	33	deterministic	deterministic	ADJ
bracis-28353	296	34	planning	planning	NOUN
bracis-28353	296	35	in	in	ADP
bracis-28353	296	36	the	the	DET
bracis-28353	296	37	fifth	fifth	ADJ
bracis-28353	296	38	international	international	ADJ
bracis-28353	296	39	planning	planning	NOUN
bracis-28353	296	40	competition	competition	NOUN
bracis-28353	296	41	:	:	PUNCT
bracis-28353	296	42	pddl3	pddl3	NOUN
bracis-28353	296	43	and	and	CCONJ
bracis-28353	296	44	experimental	experimental	ADJ
bracis-28353	296	45	evaluation	evaluation	NOUN
bracis-28353	296	46	of	of	ADP
bracis-28353	296	47	the	the	DET
bracis-28353	296	48	planners	planner	NOUN
bracis-28353	296	49	.	.	PUNCT
bracis-28353	297	1	artif	artif	INTJ
bracis-28353	297	2	.	.	PUNCT
bracis-28353	298	1	intell	intell	PROPN
bracis-28353	298	2	.	.	PUNCT
bracis-28353	299	1	173(5–6	173(5–6	NUM
bracis-28353	299	2	)	)	PUNCT
bracis-28353	299	3	,	,	PUNCT
bracis-28353	300	1	619–668	619–668	NUM
bracis-28353	300	2	(	(	PUNCT
bracis-28353	300	3	2009	2009	NUM
bracis-28353	300	4	)	)	PUNCT
bracis-28353	300	5	article	article	NOUN
bracis-28353	300	6	  	  	SPACE
bracis-28353	300	7	mathscinet	mathscinet	NOUN
bracis-28353	300	8	  	  	SPACE
bracis-28353	300	9	math	math	NOUN
bracis-28353	300	10	  	  	SPACE
bracis-28353	300	11	google	google	PROPN
bracis-28353	300	12	scholar	scholar	NOUN
bracis-28353	300	13	  	  	SPACE
bracis-28353	300	14	ghallab	ghallab	NOUN
bracis-28353	300	15	,	,	PUNCT
bracis-28353	300	16	m.	m.	NOUN
bracis-28353	300	17	,	,	PUNCT
bracis-28353	300	18	nau	nau	PROPN
bracis-28353	300	19	,	,	PUNCT
bracis-28353	300	20	d.	d.	PROPN
bracis-28353	300	21	,	,	PUNCT
bracis-28353	300	22	traverso	traverso	PROPN
bracis-28353	300	23	,	,	PUNCT
bracis-28353	300	24	p.	p.	NOUN
bracis-28353	300	25	:	:	PUNCT
bracis-28353	300	26	automated	automate	VERB
bracis-28353	300	27	planning	planning	NOUN
bracis-28353	300	28	:	:	PUNCT
bracis-28353	300	29	theory	theory	NOUN
bracis-28353	300	30	and	and	CCONJ
bracis-28353	300	31	practice	practice	NOUN
bracis-28353	300	32	.	.	PUNCT
bracis-28353	301	1	elsevier	elsevier	NOUN
bracis-28353	301	2	(	(	PUNCT
bracis-28353	301	3	2004	2004	NUM
bracis-28353	301	4	)	)	PUNCT
bracis-28353	301	5	google	google	PROPN
bracis-28353	301	6	scholar	scholar	NOUN
bracis-28353	301	7	  	  	SPACE
bracis-28353	301	8	hoffmann	hoffmann	PROPN
bracis-28353	301	9	,	,	PUNCT
bracis-28353	301	10	j.	j.	PROPN
bracis-28353	301	11	:	:	PUNCT
bracis-28353	301	12	ff	ff	NUM
bracis-28353	301	13	:	:	PUNCT
bracis-28353	301	14	the	the	DET
bracis-28353	301	15	fast	fast	ADJ
bracis-28353	301	16	-	-	PUNCT
bracis-28353	301	17	forward	forward	NOUN
bracis-28353	301	18	planning	planning	NOUN
bracis-28353	301	19	system	system	NOUN
bracis-28353	301	20	.	.	PUNCT
bracis-28353	302	1	ai	ai	VERB
bracis-28353	302	2	mag	mag	ADJ
bracis-28353	302	3	.	.	PUNCT
bracis-28353	303	1	22(3	22(3	NUM
bracis-28353	303	2	)	)	PUNCT
bracis-28353	303	3	,	,	PUNCT
bracis-28353	303	4	57–57	57–57	NUM
bracis-28353	303	5	(	(	PUNCT
bracis-28353	303	6	2001	2001	NUM
bracis-28353	303	7	)	)	PUNCT
bracis-28353	303	8	google	google	PROPN
bracis-28353	303	9	scholar	scholar	NOUN
bracis-28353	303	10	  	  	SPACE
bracis-28353	303	11	hoffmann	hoffmann	PROPN
bracis-28353	303	12	,	,	PUNCT
bracis-28353	303	13	j.	j.	PROPN
bracis-28353	303	14	:	:	PUNCT
bracis-28353	303	15	everything	everything	PRON
bracis-28353	303	16	you	you	PRON
bracis-28353	303	17	always	always	ADV
bracis-28353	303	18	wanted	want	VERB
bracis-28353	303	19	to	to	PART
bracis-28353	303	20	know	know	VERB
bracis-28353	303	21	about	about	ADP
bracis-28353	303	22	planning	planning	NOUN
bracis-28353	303	23	.	.	PUNCT
bracis-28353	304	1	in	in	ADP
bracis-28353	304	2	:	:	PUNCT
bracis-28353	304	3	annual	annual	ADJ
bracis-28353	304	4	conference	conference	NOUN
bracis-28353	304	5	on	on	ADP
bracis-28353	304	6	artificial	artificial	ADJ
bracis-28353	304	7	intelligence	intelligence	NOUN
bracis-28353	304	8	,	,	PUNCT
bracis-28353	304	9	pp	pp	ADP
bracis-28353	304	10	.	.	PUNCT
bracis-28353	305	1	1–13	1–13	NOUN
bracis-28353	305	2	.	.	PUNCT
bracis-28353	306	1	springer	springer	NOUN
bracis-28353	306	2	(	(	PUNCT
bracis-28353	306	3	2011	2011	NUM
bracis-28353	306	4	)	)	PUNCT
bracis-28353	306	5	google	google	PROPN
bracis-28353	306	6	scholar	scholar	NOUN
bracis-28353	306	7	  	  	SPACE
bracis-28353	306	8	hsu	hsu	PROPN
bracis-28353	306	9	,	,	PUNCT
bracis-28353	306	10	c.w	c.w	PROPN
bracis-28353	306	11	.	.	PROPN
bracis-28353	306	12	,	,	PUNCT
bracis-28353	306	13	wah	wah	PROPN
bracis-28353	306	14	,	,	PUNCT
bracis-28353	306	15	b.w	b.w	PROPN
bracis-28353	306	16	.	.	PROPN
bracis-28353	306	17	,	,	PUNCT
bracis-28353	306	18	huang	huang	PROPN
bracis-28353	306	19	,	,	PUNCT
bracis-28353	306	20	r.	r.	PROPN
bracis-28353	306	21	,	,	PUNCT
bracis-28353	306	22	chen	chen	PROPN
bracis-28353	306	23	,	,	PUNCT
bracis-28353	306	24	y.	y.	PROPN
bracis-28353	306	25	:	:	PUNCT
bracis-28353	306	26	constraint	constraint	NOUN
bracis-28353	306	27	partitioning	partition	VERB
bracis-28353	306	28	for	for	ADP
bracis-28353	306	29	solving	solve	VERB
bracis-28353	306	30	planning	planning	NOUN
bracis-28353	306	31	problems	problem	NOUN
bracis-28353	306	32	with	with	ADP
bracis-28353	306	33	trajectory	trajectory	NOUN
bracis-28353	306	34	constraints	constraint	NOUN
bracis-28353	306	35	and	and	CCONJ
bracis-28353	306	36	goal	goal	NOUN
bracis-28353	306	37	preferences	preference	NOUN
bracis-28353	306	38	.	.	PUNCT
bracis-28353	307	1	in	in	ADP
bracis-28353	307	2	:	:	PUNCT
bracis-28353	307	3	ijcai	ijcai	NOUN
bracis-28353	307	4	,	,	PUNCT
bracis-28353	307	5	pp	pp	X
bracis-28353	307	6	.	.	PUNCT
bracis-28353	308	1	1924–1929	1924–1929	NUM
bracis-28353	308	2	(	(	PUNCT
bracis-28353	308	3	2007	2007	NUM
bracis-28353	308	4	)	)	PUNCT
bracis-28353	308	5	google	google	PROPN
bracis-28353	308	6	scholar	scholar	NOUN
bracis-28353	308	7	  	  	SPACE
bracis-28353	308	8	kautz	kautz	NOUN
bracis-28353	308	9	,	,	PUNCT
bracis-28353	308	10	h.	h.	PROPN
bracis-28353	308	11	,	,	PUNCT
bracis-28353	308	12	selman	selman	PROPN
bracis-28353	308	13	,	,	PUNCT
bracis-28353	308	14	b.	b.	PROPN
bracis-28353	308	15	:	:	PUNCT
bracis-28353	309	1	unifying	unify	VERB
bracis-28353	309	2	sat	sat	ADV
bracis-28353	309	3	-	-	PUNCT
bracis-28353	309	4	based	base	VERB
bracis-28353	309	5	and	and	CCONJ
bracis-28353	309	6	graph	graph	NOUN
bracis-28353	309	7	-	-	PUNCT
bracis-28353	309	8	based	base	VERB
bracis-28353	309	9	planning	planning	NOUN
bracis-28353	309	10	.	.	PUNCT
bracis-28353	310	1	in	in	ADP
bracis-28353	310	2	:	:	PUNCT
bracis-28353	310	3	ijcai	ijcai	NOUN
bracis-28353	310	4	,	,	PUNCT
bracis-28353	310	5	vol	vol	NOUN
bracis-28353	310	6	.	.	PROPN
bracis-28353	310	7	99	99	NUM
bracis-28353	310	8	,	,	PUNCT
bracis-28353	310	9	pp	pp	ADJ
bracis-28353	310	10	.	.	PUNCT
bracis-28353	311	1	318–325	318–325	NUM
bracis-28353	311	2	(	(	PUNCT
bracis-28353	311	3	1999	1999	NUM
bracis-28353	311	4	)	)	PUNCT
bracis-28353	311	5	google	google	PROPN
bracis-28353	311	6	scholar	scholar	NOUN
bracis-28353	311	7	  	  	SPACE
bracis-28353	311	8	kim	kim	PROPN
bracis-28353	311	9	,	,	PUNCT
bracis-28353	311	10	j.	j.	PROPN
bracis-28353	311	11	,	,	PUNCT
bracis-28353	311	12	banks	bank	NOUN
bracis-28353	311	13	,	,	PUNCT
bracis-28353	311	14	c.j	c.j	PROPN
bracis-28353	311	15	.	.	PROPN
bracis-28353	311	16	,	,	PUNCT
bracis-28353	311	17	shah	shah	PROPN
bracis-28353	311	18	,	,	PUNCT
bracis-28353	311	19	j.a	j.a	PROPN
bracis-28353	311	20	.	.	PROPN
bracis-28353	311	21	:	:	PUNCT
bracis-28353	311	22	collaborative	collaborative	ADJ
bracis-28353	311	23	planning	planning	NOUN
bracis-28353	311	24	with	with	ADP
bracis-28353	311	25	encoding	encoding	NOUN
bracis-28353	311	26	of	of	ADP
bracis-28353	311	27	users	user	NOUN
bracis-28353	311	28	’	'	PUNCT
bracis-28353	311	29	high	high	ADJ
bracis-28353	311	30	-	-	PUNCT
bracis-28353	311	31	level	level	NOUN
bracis-28353	311	32	strategies	strategy	NOUN
bracis-28353	311	33	.	.	PUNCT
bracis-28353	312	1	in	in	ADP
bracis-28353	312	2	:	:	PUNCT
bracis-28353	312	3	thirty	thirty	NUM
bracis-28353	312	4	-	-	PUNCT
bracis-28353	312	5	first	first	ADV
bracis-28353	312	6	aaai	aaai	PROPN
bracis-28353	312	7	conference	conference	NOUN
bracis-28353	312	8	on	on	ADP
bracis-28353	312	9	artificial	artificial	ADJ
bracis-28353	312	10	intelligence	intelligence	NOUN
bracis-28353	312	11	(	(	PUNCT
bracis-28353	312	12	2017	2017	NUM
bracis-28353	312	13	)	)	PUNCT
bracis-28353	312	14	google	google	NOUN
bracis-28353	312	15	scholar	scholar	NOUN
bracis-28353	312	16	  	  	SPACE
bracis-28353	312	17	kindler	kindl	ADJ
bracis-28353	312	18	,	,	PUNCT
bracis-28353	312	19	e.	e.	NOUN
bracis-28353	312	20	:	:	PUNCT
bracis-28353	312	21	safety	safety	NOUN
bracis-28353	312	22	and	and	CCONJ
bracis-28353	312	23	liveness	liveness	NOUN
bracis-28353	312	24	properties	property	NOUN
bracis-28353	312	25	:	:	PUNCT
bracis-28353	312	26	a	a	DET
bracis-28353	312	27	survey	survey	NOUN
bracis-28353	312	28	.	.	PUNCT
bracis-28353	313	1	bull	bull	NOUN
bracis-28353	313	2	.	.	PUNCT
bracis-28353	314	1	eur	eur	PROPN
bracis-28353	314	2	.	.	PUNCT
bracis-28353	315	1	assoc	assoc	PROPN
bracis-28353	315	2	.	.	PUNCT
bracis-28353	316	1	theor	theor	PROPN
bracis-28353	316	2	.	.	PUNCT
bracis-28353	317	1	comput	comput	PROPN
bracis-28353	317	2	.	.	PUNCT
bracis-28353	318	1	sci	sci	PROPN
bracis-28353	318	2	.	.	PUNCT
bracis-28353	319	1	53(268–272	53(268–272	NUM
bracis-28353	319	2	)	)	PUNCT
bracis-28353	319	3	,	,	PUNCT
bracis-28353	319	4	30	30	NUM
bracis-28353	319	5	(	(	PUNCT
bracis-28353	319	6	1994	1994	NUM
bracis-28353	319	7	)	)	PUNCT
bracis-28353	319	8	google	google	PROPN
bracis-28353	319	9	scholar	scholar	NOUN
bracis-28353	319	10	  	  	SPACE
bracis-28353	319	11	lamport	lamport	NOUN
bracis-28353	319	12	,	,	PUNCT
bracis-28353	319	13	l.	l.	PROPN
bracis-28353	319	14	:	:	PUNCT
bracis-28353	319	15	proving	prove	VERB
bracis-28353	319	16	the	the	DET
bracis-28353	319	17	correctness	correctness	NOUN
bracis-28353	319	18	of	of	ADP
bracis-28353	319	19	multiprocess	multiprocess	NOUN
bracis-28353	319	20	programs	program	NOUN
bracis-28353	319	21	.	.	PUNCT
bracis-28353	320	1	ieee	ieee	PROPN
bracis-28353	320	2	trans	trans	PROPN
bracis-28353	320	3	.	.	PUNCT
bracis-28353	321	1	software	software	PROPN
bracis-28353	321	2	eng	eng	PROPN
bracis-28353	321	3	.	.	PROPN
bracis-28353	321	4	2	2	NUM
bracis-28353	321	5	,	,	PUNCT
bracis-28353	321	6	125–143	125–143	NUM
bracis-28353	321	7	(	(	PUNCT
bracis-28353	321	8	1977	1977	NUM
bracis-28353	321	9	)	)	PUNCT
bracis-28353	321	10	article	article	NOUN
bracis-28353	321	11	  	  	SPACE
bracis-28353	321	12	mathscinet	mathscinet	NOUN
bracis-28353	321	13	  	  	SPACE
bracis-28353	321	14	math	math	NOUN
bracis-28353	321	15	  	  	SPACE
bracis-28353	321	16	google	google	PROPN
bracis-28353	321	17	scholar	scholar	NOUN
bracis-28353	321	18	  	  	SPACE
bracis-28353	321	19	de	de	X
bracis-28353	321	20	menezes	menezes	PROPN
bracis-28353	321	21	,	,	PUNCT
bracis-28353	321	22	m.v	m.v	PROPN
bracis-28353	321	23	.	.	PROPN
bracis-28353	321	24	,	,	PUNCT
bracis-28353	321	25	de	de	PROPN
bracis-28353	321	26	barros	barros	PROPN
bracis-28353	321	27	,	,	PUNCT
bracis-28353	321	28	l.n	l.n	PROPN
bracis-28353	321	29	.	.	PROPN
bracis-28353	321	30	,	,	PUNCT
bracis-28353	321	31	do	do	AUX
bracis-28353	321	32	lago	lago	PROPN
bracis-28353	321	33	pereira	pereira	PROPN
bracis-28353	321	34	,	,	PUNCT
bracis-28353	321	35	s.	s.	PROPN
bracis-28353	321	36	:	:	PUNCT
bracis-28353	321	37	symbolic	symbolic	ADJ
bracis-28353	321	38	regression	regression	NOUN
bracis-28353	321	39	for	for	ADP
bracis-28353	321	40	non	non	ADJ
bracis-28353	321	41	-	-	ADJ
bracis-28353	321	42	deterministic	deterministic	ADJ
bracis-28353	321	43	actions	action	NOUN
bracis-28353	321	44	(	(	PUNCT
bracis-28353	321	45	2014	2014	NUM
bracis-28353	321	46	)	)	PUNCT
bracis-28353	321	47	google	google	PROPN
bracis-28353	321	48	scholar	scholar	NOUN
bracis-28353	321	49	  	  	SPACE
bracis-28353	321	50	menezes	meneze	NOUN
bracis-28353	321	51	,	,	PUNCT
bracis-28353	321	52	maria	maria	PROPN
bracis-28353	321	53	viviane	viviane	PROPN
bracis-28353	321	54	de	de	PROPN
bracis-28353	321	55	:	:	PUNCT
bracis-28353	321	56	mudanças	mudanças	NOUN
bracis-28353	321	57	em	em	PRON
bracis-28353	321	58	problemas	problema	VERB
bracis-28353	321	59	de	de	PROPN
bracis-28353	321	60	planejamento	planejamento	PROPN
bracis-28353	321	61	sem	sem	PROPN
bracis-28353	321	62	solução	solução	PROPN
bracis-28353	321	63	.	.	PROPN
bracis-28353	321	64	2014	2014	NUM
bracis-28353	321	65	.	.	PUNCT
bracis-28353	322	1	127	127	NUM
bracis-28353	322	2	f.	f.	PROPN
bracis-28353	322	3	ph.d	ph.d	PROPN
bracis-28353	322	4	.	.	PUNCT
bracis-28353	323	1	thesis	thesis	PROPN
bracis-28353	323	2	,	,	PUNCT
bracis-28353	323	3	universidade	universidade	PROPN
bracis-28353	323	4	de	de	PROPN
bracis-28353	323	5	são	são	PROPN
bracis-28353	323	6	paulo	paulo	PROPN
bracis-28353	323	7	,	,	PUNCT
bracis-28353	323	8	são	são	PROPN
bracis-28353	323	9	paulo	paulo	PROPN
bracis-28353	323	10	(	(	PUNCT
bracis-28353	323	11	2014	2014	NUM
bracis-28353	323	12	)	)	PUNCT
bracis-28353	323	13	google	google	PROPN
bracis-28353	323	14	scholar	scholar	NOUN
bracis-28353	323	15	  	  	SPACE
bracis-28353	323	16	muise	muise	PROPN
bracis-28353	323	17	,	,	PUNCT
bracis-28353	323	18	c.j	c.j	PROPN
bracis-28353	323	19	.	.	PROPN
bracis-28353	323	20	,	,	PUNCT
bracis-28353	323	21	mcilraith	mcilraith	PROPN
bracis-28353	323	22	,	,	PUNCT
bracis-28353	323	23	s.a	s.a	PROPN
bracis-28353	323	24	.	.	PROPN
bracis-28353	323	25	,	,	PUNCT
bracis-28353	323	26	beck	beck	PROPN
bracis-28353	323	27	,	,	PUNCT
bracis-28353	323	28	c.	c.	PROPN
bracis-28353	323	29	:	:	PUNCT
bracis-28353	323	30	improved	improve	VERB
bracis-28353	323	31	non	non	ADJ
bracis-28353	323	32	-	-	ADJ
bracis-28353	323	33	deterministic	deterministic	ADJ
bracis-28353	323	34	planning	planning	NOUN
bracis-28353	323	35	by	by	ADP
bracis-28353	323	36	exploiting	exploit	VERB
bracis-28353	323	37	state	state	NOUN
bracis-28353	323	38	relevance	relevance	NOUN
bracis-28353	323	39	.	.	PUNCT
bracis-28353	324	1	in	in	ADP
bracis-28353	324	2	:	:	PUNCT
bracis-28353	324	3	twenty	twenty	NUM
bracis-28353	324	4	-	-	PUNCT
bracis-28353	324	5	second	second	ADJ
bracis-28353	324	6	international	international	ADJ
bracis-28353	324	7	conference	conference	NOUN
bracis-28353	324	8	on	on	ADP
bracis-28353	324	9	automated	automate	VERB
bracis-28353	324	10	planning	planning	NOUN
bracis-28353	324	11	and	and	CCONJ
bracis-28353	324	12	scheduling	scheduling	NOUN
bracis-28353	324	13	(	(	PUNCT
bracis-28353	324	14	2012	2012	NUM
bracis-28353	324	15	)	)	PUNCT
bracis-28353	324	16	google	google	PROPN
bracis-28353	324	17	scholar	scholar	NOUN
bracis-28353	324	18	  	  	SPACE
bracis-28353	324	19	percassi	percassi	NOUN
bracis-28353	324	20	,	,	PUNCT
bracis-28353	324	21	f.	f.	PROPN
bracis-28353	324	22	,	,	PUNCT
bracis-28353	324	23	gerevini	gerevini	PROPN
bracis-28353	324	24	,	,	PUNCT
bracis-28353	324	25	a.e	a.e	PROPN
bracis-28353	324	26	.	.	PROPN
bracis-28353	324	27	:	:	PUNCT
bracis-28353	324	28	on	on	ADP
bracis-28353	324	29	compiling	compile	VERB
bracis-28353	324	30	away	away	ADV
bracis-28353	324	31	pddl3	pddl3	NOUN
bracis-28353	324	32	soft	soft	ADJ
bracis-28353	324	33	trajectory	trajectory	NOUN
bracis-28353	324	34	constraints	constraint	NOUN
bracis-28353	324	35	without	without	ADP
bracis-28353	324	36	using	use	VERB
bracis-28353	324	37	automata	automata	NOUN
bracis-28353	324	38	.	.	PUNCT
bracis-28353	325	1	in	in	ADP
bracis-28353	325	2	:	:	PUNCT
bracis-28353	325	3	proceedings	proceeding	NOUN
bracis-28353	325	4	of	of	ADP
bracis-28353	325	5	the	the	DET
bracis-28353	325	6	international	international	ADJ
bracis-28353	325	7	conference	conference	NOUN
bracis-28353	325	8	on	on	ADP
bracis-28353	325	9	automated	automate	VERB
bracis-28353	325	10	planning	planning	NOUN
bracis-28353	325	11	and	and	CCONJ
bracis-28353	325	12	scheduling	scheduling	NOUN
bracis-28353	325	13	,	,	PUNCT
bracis-28353	325	14	vol	vol	NOUN
bracis-28353	325	15	.	.	PROPN
bracis-28353	325	16	29	29	NUM
bracis-28353	325	17	,	,	PUNCT
bracis-28353	325	18	pp	pp	ADJ
bracis-28353	325	19	.	.	PUNCT
bracis-28353	326	1	320–328	320–328	NUM
bracis-28353	326	2	(	(	PUNCT
bracis-28353	326	3	2019	2019	NUM
bracis-28353	326	4	)	)	PUNCT
bracis-28353	326	5	google	google	PROPN
bracis-28353	326	6	scholar	scholar	NOUN
bracis-28353	326	7	  	  	SPACE
bracis-28353	326	8	pereira	pereira	PROPN
bracis-28353	326	9	,	,	PUNCT
bracis-28353	326	10	s.d.l	s.d.l	PROPN
bracis-28353	326	11	.	.	PUNCT
bracis-28353	326	12	:	:	PUNCT
bracis-28353	327	1	planejamento	planejamento	NOUN
bracis-28353	327	2	sob	sob	VERB
bracis-28353	327	3	incerteza	incerteza	PROPN
bracis-28353	327	4	para	para	PROPN
bracis-28353	327	5	metas	metas	PROPN
bracis-28353	327	6	de	de	PROPN
bracis-28353	327	7	alcancabilidade	alcancabilidade	PROPN
bracis-28353	327	8	estendidas	estendidas	PROPN
bracis-28353	327	9	.	.	PUNCT
bracis-28353	328	1	ph.d	ph.d	PROPN
bracis-28353	328	2	.	.	PUNCT
bracis-28353	329	1	thesis	thesis	PROPN
bracis-28353	329	2	,	,	PUNCT
bracis-28353	329	3	universidade	universidade	PROPN
bracis-28353	329	4	de	de	PROPN
bracis-28353	329	5	são	são	PROPN
bracis-28353	329	6	paulo	paulo	PROPN
bracis-28353	329	7	,	,	PUNCT
bracis-28353	329	8	são	são	PROPN
bracis-28353	329	9	paulo	paulo	PROPN
bracis-28353	329	10	(	(	PUNCT
bracis-28353	329	11	2007	2007	NUM
bracis-28353	329	12	)	)	PUNCT
bracis-28353	329	13	google	google	PROPN
bracis-28353	329	14	scholar	scholar	NOUN
bracis-28353	329	15	  	  	SPACE
bracis-28353	329	16	pereira	pereira	PROPN
bracis-28353	329	17	,	,	PUNCT
bracis-28353	329	18	s.l	s.l	PROPN
bracis-28353	329	19	.	.	PROPN
bracis-28353	329	20	,	,	PUNCT
bracis-28353	329	21	de	de	PROPN
bracis-28353	329	22	barros	barros	PROPN
bracis-28353	329	23	,	,	PUNCT
bracis-28353	329	24	l.n	l.n	PROPN
bracis-28353	329	25	.	.	PROPN
bracis-28353	329	26	:	:	PUNCT
bracis-28353	329	27	a	a	DET
bracis-28353	329	28	logic	logic	NOUN
bracis-28353	329	29	-	-	PUNCT
bracis-28353	329	30	based	base	VERB
bracis-28353	329	31	agent	agent	NOUN
bracis-28353	329	32	that	that	PRON
bracis-28353	329	33	plans	plan	VERB
bracis-28353	329	34	for	for	ADP
bracis-28353	329	35	extended	extended	ADJ
bracis-28353	329	36	reachability	reachability	NOUN
bracis-28353	329	37	goals	goal	NOUN
bracis-28353	329	38	.	.	PUNCT
bracis-28353	330	1	auton	auton	PROPN
bracis-28353	330	2	.	.	PUNCT
bracis-28353	331	1	agent	agent	NOUN
bracis-28353	331	2	.	.	PUNCT
bracis-28353	332	1	multi	multi	ADJ
bracis-28353	332	2	-	-	ADJ
bracis-28353	332	3	agent	agent	ADJ
bracis-28353	332	4	syst	syst	NOUN
bracis-28353	332	5	.	.	PUNCT
bracis-28353	333	1	16(3	16(3	NUM
bracis-28353	333	2	)	)	PUNCT
bracis-28353	333	3	,	,	PUNCT
bracis-28353	333	4	327–344	327–344	NUM
bracis-28353	333	5	(	(	PUNCT
bracis-28353	333	6	2008	2008	NUM
bracis-28353	333	7	)	)	PUNCT
bracis-28353	333	8	article	article	NOUN
bracis-28353	333	9	  	  	SPACE
bracis-28353	333	10	google	google	PROPN
bracis-28353	333	11	scholar	scholar	NOUN
bracis-28353	333	12	  	  	SPACE
bracis-28353	333	13	piterman	piterman	NOUN
bracis-28353	333	14	,	,	PUNCT
bracis-28353	333	15	n.	n.	PROPN
bracis-28353	333	16	,	,	PUNCT
bracis-28353	333	17	pnueli	pnueli	PROPN
bracis-28353	333	18	,	,	PUNCT
bracis-28353	333	19	a.	a.	NOUN
bracis-28353	333	20	:	:	PUNCT
bracis-28353	333	21	temporal	temporal	ADJ
bracis-28353	333	22	logic	logic	NOUN
bracis-28353	333	23	and	and	CCONJ
bracis-28353	333	24	fair	fair	ADJ
bracis-28353	333	25	discrete	discrete	ADJ
bracis-28353	333	26	systems	system	NOUN
bracis-28353	333	27	.	.	PUNCT
bracis-28353	334	1	in	in	ADP
bracis-28353	334	2	:	:	PUNCT
bracis-28353	334	3	handbook	handbook	NOUN
bracis-28353	334	4	of	of	ADP
bracis-28353	334	5	model	model	NOUN
bracis-28353	334	6	checking	checking	NOUN
bracis-28353	334	7	,	,	PUNCT
bracis-28353	334	8	pp	pp	ADV
bracis-28353	334	9	.	.	PUNCT
bracis-28353	334	10	27–73	27–73	NUM
bracis-28353	334	11	(	(	PUNCT
bracis-28353	334	12	2018	2018	NUM
bracis-28353	334	13	)	)	PUNCT
bracis-28353	334	14	google	google	PROPN
bracis-28353	334	15	scholar	scholar	NOUN
bracis-28353	334	16	  	  	SPACE
bracis-28353	334	17	rintanen	rintanen	NOUN
bracis-28353	334	18	,	,	PUNCT
bracis-28353	334	19	j.	j.	PROPN
bracis-28353	334	20	:	:	PUNCT
bracis-28353	334	21	regression	regression	NOUN
bracis-28353	334	22	for	for	ADP
bracis-28353	334	23	classical	classical	ADJ
bracis-28353	334	24	and	and	CCONJ
bracis-28353	334	25	nondeterministic	nondeterministic	ADJ
bracis-28353	334	26	planning	planning	NOUN
bracis-28353	334	27	.	.	PUNCT
bracis-28353	335	1	in	in	ADP
bracis-28353	335	2	:	:	PUNCT
bracis-28353	335	3	ecai	ecai	PROPN
bracis-28353	335	4	2008	2008	NUM
bracis-28353	335	5	,	,	PUNCT
bracis-28353	335	6	pp	pp	ADJ
bracis-28353	335	7	.	.	PUNCT
bracis-28353	336	1	568–572	568–572	NUM
bracis-28353	336	2	.	.	PUNCT
bracis-28353	337	1	ios	ios	PROPN
bracis-28353	337	2	press	press	NOUN
bracis-28353	337	3	(	(	PUNCT
bracis-28353	337	4	2008	2008	NUM
bracis-28353	337	5	)	)	PUNCT
bracis-28353	337	6	google	google	PROPN
bracis-28353	337	7	scholar	scholar	NOUN
bracis-28353	337	8	  	  	SPACE
bracis-28353	337	9	santhanam	santhanam	PROPN
bracis-28353	337	10	,	,	PUNCT
bracis-28353	337	11	g.r	g.r	PROPN
bracis-28353	337	12	.	.	PROPN
bracis-28353	337	13	,	,	PUNCT
bracis-28353	337	14	basu	basu	PROPN
bracis-28353	337	15	,	,	PUNCT
bracis-28353	337	16	s.	s.	PROPN
bracis-28353	337	17	,	,	PUNCT
bracis-28353	337	18	honavar	honavar	NOUN
bracis-28353	337	19	,	,	PUNCT
bracis-28353	337	20	v.	v.	ADP
bracis-28353	337	21	:	:	PUNCT
bracis-28353	337	22	representing	represent	VERB
bracis-28353	337	23	and	and	CCONJ
bracis-28353	337	24	reasoning	reason	VERB
bracis-28353	337	25	with	with	ADP
bracis-28353	337	26	qualitative	qualitative	ADJ
bracis-28353	337	27	preferences	preference	NOUN
bracis-28353	337	28	:	:	PUNCT
bracis-28353	337	29	tools	tool	NOUN
bracis-28353	337	30	and	and	CCONJ
bracis-28353	337	31	applications	application	NOUN
bracis-28353	337	32	.	.	PUNCT
bracis-28353	338	1	synthesis	synthesis	NOUN
bracis-28353	338	2	lectures	lecture	NOUN
bracis-28353	338	3	artif	artif	ADV
bracis-28353	338	4	.	.	PUNCT
bracis-28353	339	1	intell	intell	PROPN
bracis-28353	339	2	.	.	PUNCT
bracis-28353	340	1	mach	mach	PROPN
bracis-28353	340	2	.	.	PUNCT
bracis-28353	341	1	learn	learn	VERB
bracis-28353	341	2	.	.	PUNCT
bracis-28353	342	1	10(1	10(1	NUM
bracis-28353	342	2	)	)	PUNCT
bracis-28353	342	3	,	,	PUNCT
bracis-28353	342	4	1–154	1–154	NUM
bracis-28353	342	5	(	(	PUNCT
bracis-28353	342	6	2016	2016	NUM
bracis-28353	342	7	)	)	PUNCT
bracis-28353	342	8	article	article	NOUN
bracis-28353	342	9	  	  	SPACE
bracis-28353	342	10	math	math	NOUN
bracis-28353	342	11	  	  	SPACE
bracis-28353	342	12	google	google	PROPN
bracis-28353	342	13	scholar	scholar	NOUN
bracis-28353	342	14	  	  	SPACE
bracis-28353	342	15	santos	santo	NOUN
bracis-28353	342	16	,	,	PUNCT
bracis-28353	342	17	r.m.d	r.m.d	PROPN
bracis-28353	342	18	.	.	PUNCT
bracis-28353	342	19	:	:	PUNCT
bracis-28353	343	1	especificação	especificação	PROPN
bracis-28353	343	2	de	de	X
bracis-28353	343	3	preferências	preferências	PROPN
bracis-28353	343	4	de	de	PROPN
bracis-28353	343	5	planos	planos	PROPN
bracis-28353	343	6	usando	usando	PROPN
bracis-28353	343	7	metas	metas	PROPN
bracis-28353	343	8	estendidas	estendidas	PROPN
bracis-28353	343	9	na	na	PROPN
bracis-28353	343	10	lógica	lógica	PROPN
bracis-28353	343	11	alpha	alpha	PROPN
bracis-28353	343	12	-	-	PUNCT
bracis-28353	343	13	ctl	ctl	PROPN
bracis-28353	343	14	(	(	PUNCT
bracis-28353	343	15	2019	2019	NUM
bracis-28353	343	16	)	)	PUNCT
bracis-28353	343	17	google	google	PROPN
bracis-28353	343	18	scholar	scholar	NOUN
bracis-28353	343	19	  	  	SPACE
bracis-28353	343	20	santos	santo	NOUN
bracis-28353	343	21	,	,	PUNCT
bracis-28353	343	22	v.b.d	v.b.d	PROPN
bracis-28353	343	23	.	.	PROPN
bracis-28353	343	24	,	,	PUNCT
bracis-28353	343	25	barros	barros	PROPN
bracis-28353	343	26	,	,	PUNCT
bracis-28353	343	27	l.n.d	l.n.d	PROPN
bracis-28353	343	28	.	.	PROPN
bracis-28353	343	29	,	,	PUNCT
bracis-28353	343	30	pereira	pereira	PROPN
bracis-28353	343	31	,	,	PUNCT
bracis-28353	343	32	s.d.l	s.d.l	PROPN
bracis-28353	343	33	.	.	PROPN
bracis-28353	343	34	,	,	PUNCT
bracis-28353	343	35	menezes	menezes	PROPN
bracis-28353	343	36	,	,	PUNCT
bracis-28353	343	37	m.v.d	m.v.d	PROPN
bracis-28353	343	38	.	.	PROPN
bracis-28353	343	39	:	:	PUNCT
bracis-28353	343	40	symbolic	symbolic	ADJ
bracis-28353	343	41	fond	fond	ADJ
bracis-28353	343	42	planning	planning	NOUN
bracis-28353	343	43	for	for	ADP
bracis-28353	343	44	temporally	temporally	ADV
bracis-28353	343	45	extended	extend	VERB
bracis-28353	343	46	goals	goal	NOUN
bracis-28353	343	47	.	.	PUNCT
bracis-28353	344	1	in	in	ADP
bracis-28353	344	2	:	:	PUNCT
bracis-28353	344	3	workshop	workshop	NOUN
bracis-28353	344	4	on	on	ADP
bracis-28353	344	5	knowledge	knowledge	NOUN
bracis-28353	344	6	engineering	engineering	NOUN
bracis-28353	344	7	for	for	ADP
bracis-28353	344	8	planning	planning	NOUN
bracis-28353	344	9	and	and	CCONJ
bracis-28353	344	10	scheduling	scheduling	NOUN
bracis-28353	344	11	(	(	PUNCT
bracis-28353	344	12	2022	2022	NUM
bracis-28353	344	13	)	)	PUNCT
bracis-28353	344	14	google	google	NOUN
bracis-28353	344	15	scholar	scholar	NOUN
bracis-28353	344	16	  	  	SPACE
bracis-28353	344	17	dos	do	NOUN
bracis-28353	344	18	santos	santo	NOUN
bracis-28353	344	19	,	,	PUNCT
bracis-28353	344	20	v.m.b	v.m.b	PROPN
bracis-28353	344	21	.	.	PROPN
bracis-28353	344	22	,	,	PUNCT
bracis-28353	344	23	de	de	PROPN
bracis-28353	344	24	barros	barros	PROPN
bracis-28353	344	25	,	,	PUNCT
bracis-28353	344	26	l.n	l.n	PROPN
bracis-28353	344	27	.	.	PROPN
bracis-28353	344	28	,	,	PUNCT
bracis-28353	344	29	de	de	PROPN
bracis-28353	344	30	menezes	menezes	PROPN
bracis-28353	344	31	,	,	PUNCT
bracis-28353	344	32	m.v	m.v	PROPN
bracis-28353	344	33	.	.	PROPN
bracis-28353	344	34	:	:	PUNCT
bracis-28353	344	35	symbolic	symbolic	ADJ
bracis-28353	344	36	planning	planning	NOUN
bracis-28353	344	37	for	for	ADP
bracis-28353	344	38	strong	strong	ADJ
bracis-28353	344	39	-	-	PUNCT
bracis-28353	344	40	cyclic	cyclic	ADJ
bracis-28353	344	41	policies	policy	NOUN
bracis-28353	344	42	.	.	PUNCT
bracis-28353	345	1	in	in	ADP
bracis-28353	345	2	:	:	PUNCT
bracis-28353	345	3	2019	2019	NUM
bracis-28353	345	4	8th	8th	ADJ
bracis-28353	345	5	brazilian	brazilian	ADJ
bracis-28353	345	6	conference	conference	NOUN
bracis-28353	345	7	on	on	ADP
bracis-28353	345	8	intelligent	intelligent	ADJ
bracis-28353	345	9	systems	system	NOUN
bracis-28353	345	10	(	(	PUNCT
bracis-28353	345	11	bracis	bracis	NOUN
bracis-28353	345	12	)	)	PUNCT
bracis-28353	345	13	,	,	PUNCT
bracis-28353	345	14	pp	pp	ADP
bracis-28353	345	15	.	.	PUNCT
bracis-28353	346	1	168–173	168–173	NUM
bracis-28353	346	2	.	.	PUNCT
bracis-28353	347	1	ieee	ieee	NOUN
bracis-28353	347	2	(	(	PUNCT
bracis-28353	347	3	2019	2019	NUM
bracis-28353	347	4	)	)	PUNCT
bracis-28353	347	5	google	google	NOUN
bracis-28353	347	6	scholar	scholar	NOUN
bracis-28353	347	7	  	  	SPACE
bracis-28353	347	8	download	download	NOUN
bracis-28353	347	9	references	reference	NOUN
bracis-28353	347	10	author	author	NOUN
bracis-28353	347	11	information	information	NOUN
bracis-28353	347	12	authors	author	NOUN
bracis-28353	347	13	and	and	CCONJ
bracis-28353	347	14	affiliations	affiliation	NOUN
bracis-28353	347	15	instituto	instituto	PROPN
bracis-28353	347	16	federal	federal	PROPN
bracis-28353	347	17	do	do	AUX
bracis-28353	347	18	piauí	piauí	PROPN
bracis-28353	347	19	,	,	PUNCT
bracis-28353	347	20	teresina	teresina	PROPN
bracis-28353	347	21	,	,	PUNCT
bracis-28353	347	22	brazil	brazil	PROPN
bracis-28353	347	23	warlles	warlles	PROPN
bracis-28353	347	24	carlos	carlos	PROPN
bracis-28353	347	25	costa	costa	PROPN
bracis-28353	347	26	machado	machado	PROPN
bracis-28353	347	27	universidade	universidade	PROPN
bracis-28353	347	28	de	de	PROPN
bracis-28353	347	29	são	são	PROPN
bracis-28353	347	30	paulo	paulo	PROPN
bracis-28353	347	31	,	,	PUNCT
bracis-28353	347	32	são	são	PROPN
bracis-28353	347	33	paulo	paulo	PROPN
bracis-28353	347	34	,	,	PUNCT
bracis-28353	347	35	brazil	brazil	PROPN
bracis-28353	347	36	viviane	viviane	PROPN
bracis-28353	347	37	bonadia	bonadia	PROPN
bracis-28353	347	38	dos	dos	PROPN
bracis-28353	347	39	santos	santos	PROPN
bracis-28353	347	40	 	 	SPACE
bracis-28353	347	41	&	&	CCONJ
bracis-28353	347	42	 	 	SPACE
bracis-28353	347	43	leliane	leliane	PROPN
bracis-28353	347	44	nunes	nunes	PROPN
bracis-28353	347	45	de	de	PROPN
bracis-28353	347	46	barros	barros	PROPN
bracis-28353	347	47	universidade	universidade	PROPN
bracis-28353	347	48	federal	federal	PROPN
bracis-28353	347	49	do	do	AUX
bracis-28353	347	50	ceará	ceará	VERB
bracis-28353	347	51	campus	campus	PROPN
bracis-28353	347	52	quixadá	quixadá	NOUN
bracis-28353	347	53	,	,	PUNCT
bracis-28353	347	54	quixadá	quixadá	PROPN
bracis-28353	347	55	,	,	PUNCT
bracis-28353	347	56	brazil	brazil	PROPN
bracis-28353	347	57	maria	maria	PROPN
bracis-28353	347	58	viviane	viviane	PROPN
bracis-28353	347	59	de	de	PROPN
bracis-28353	347	60	menezes	menezes	PROPN
bracis-28353	347	61	authors	author	NOUN
bracis-28353	347	62	warlles	warlle	VERB
bracis-28353	347	63	carlos	carlos	PROPN
bracis-28353	347	64	costa	costa	PROPN
bracis-28353	347	65	machadoview	machadoview	PROPN
bracis-28353	347	66	author	author	NOUN
bracis-28353	347	67	publications	publication	NOUN
bracis-28353	347	68	search	search	NOUN
bracis-28353	347	69	author	author	NOUN
bracis-28353	347	70	on	on	ADP
bracis-28353	347	71	:	:	PUNCT
bracis-28353	347	72	pubmed	pubmed	PROPN
bracis-28353	347	73	 	 	SPACE
bracis-28353	347	74	google	google	PROPN
bracis-28353	347	75	scholar	scholar	NOUN
bracis-28353	347	76	viviane	viviane	PROPN
bracis-28353	347	77	bonadia	bonadia	PROPN
bracis-28353	347	78	dos	dos	PROPN
bracis-28353	347	79	santosview	santosview	NOUN
bracis-28353	347	80	author	author	NOUN
bracis-28353	347	81	publications	publication	NOUN
bracis-28353	347	82	search	search	NOUN
bracis-28353	347	83	author	author	NOUN
bracis-28353	347	84	on	on	ADP
bracis-28353	347	85	:	:	PUNCT
bracis-28353	347	86	pubmed	pubmed	PROPN
bracis-28353	347	87	 	 	SPACE
bracis-28353	347	88	google	google	PROPN
bracis-28353	347	89	scholar	scholar	NOUN
bracis-28353	347	90	leliane	leliane	PROPN
bracis-28353	347	91	nunes	nunes	PROPN
bracis-28353	347	92	de	de	X
bracis-28353	347	93	barrosview	barrosview	NOUN
bracis-28353	347	94	author	author	NOUN
bracis-28353	347	95	publications	publication	NOUN
bracis-28353	347	96	search	search	NOUN
bracis-28353	347	97	author	author	NOUN
bracis-28353	347	98	on	on	ADP
bracis-28353	347	99	:	:	PUNCT
bracis-28353	347	100	pubmed	pubmed	PROPN
bracis-28353	347	101	 	 	SPACE
bracis-28353	347	102	google	google	PROPN
bracis-28353	347	103	scholar	scholar	PROPN
bracis-28353	347	104	maria	maria	PROPN
bracis-28353	347	105	viviane	viviane	PROPN
bracis-28353	347	106	de	de	PROPN
bracis-28353	347	107	menezesview	menezesview	PROPN
bracis-28353	347	108	author	author	NOUN
bracis-28353	347	109	publications	publication	NOUN
bracis-28353	347	110	search	search	NOUN
bracis-28353	347	111	author	author	NOUN
bracis-28353	347	112	on	on	ADP
bracis-28353	347	113	:	:	PUNCT
bracis-28353	347	114	pubmed	pubmed	PROPN
bracis-28353	347	115	 	 	SPACE
bracis-28353	347	116	google	google	PROPN
bracis-28353	347	117	scholar	scholar	NOUN
bracis-28353	347	118	corresponding	correspond	VERB
bracis-28353	347	119	author	author	NOUN
bracis-28353	347	120	correspondence	correspondence	NOUN
bracis-28353	347	121	to	to	ADP
bracis-28353	347	122	warlles	warlles	PROPN
bracis-28353	347	123	carlos	carlos	PROPN
bracis-28353	347	124	costa	costa	PROPN
bracis-28353	347	125	machado	machado	PROPN
bracis-28353	347	126	.	.	PUNCT
bracis-28353	348	1	editor	editor	NOUN
bracis-28353	348	2	information	information	NOUN
bracis-28353	348	3	editors	editor	NOUN
bracis-28353	348	4	and	and	CCONJ
bracis-28353	348	5	affiliations	affiliation	NOUN
bracis-28353	348	6	federal	federal	PROPN
bracis-28353	348	7	university	university	PROPN
bracis-28353	348	8	of	of	ADP
bracis-28353	348	9	são	são	PROPN
bracis-28353	348	10	carlos	carlos	PROPN
bracis-28353	348	11	,	,	PUNCT
bracis-28353	348	12	são	são	PROPN
bracis-28353	348	13	carlos	carlos	PROPN
bracis-28353	348	14	,	,	PUNCT
bracis-28353	348	15	brazil	brazil	PROPN
bracis-28353	348	16	murilo	murilo	PROPN
bracis-28353	348	17	c.	c.	PROPN
bracis-28353	348	18	naldi	naldi	PROPN
bracis-28353	348	19	centro	centro	PROPN
bracis-28353	348	20	universitario	universitario	PROPN
bracis-28353	348	21	da	da	PROPN
bracis-28353	348	22	fei	fei	PROPN
bracis-28353	348	23	,	,	PUNCT
bracis-28353	348	24	são	são	PROPN
bracis-28353	348	25	bernardo	bernardo	PROPN
bracis-28353	348	26	do	do	AUX
bracis-28353	348	27	campo	campo	PROPN
bracis-28353	348	28	,	,	PUNCT
bracis-28353	348	29	brazil	brazil	PROPN
bracis-28353	348	30	reinaldo	reinaldo	PROPN
bracis-28353	348	31	a.	a.	PROPN
bracis-28353	348	32	c.	c.	PROPN
bracis-28353	348	33	bianchi	bianchi	PROPN
bracis-28353	348	34	rights	right	NOUN
bracis-28353	348	35	and	and	CCONJ
bracis-28353	348	36	permissions	permission	NOUN
bracis-28353	348	37	reprints	reprint	NOUN
bracis-28353	348	38	and	and	CCONJ
bracis-28353	348	39	permissions	permission	VERB
bracis-28353	348	40	copyright	copyright	NOUN
bracis-28353	348	41	information	information	NOUN
bracis-28353	348	42	©	©	ADP
bracis-28353	348	43	2023	2023	NUM
bracis-28353	348	44	the	the	DET
bracis-28353	348	45	author(s	author(s	NOUN
bracis-28353	348	46	)	)	PUNCT
bracis-28353	348	47	,	,	PUNCT
bracis-28353	348	48	under	under	ADP
bracis-28353	348	49	exclusive	exclusive	ADJ
bracis-28353	348	50	license	license	NOUN
bracis-28353	348	51	to	to	ADP
bracis-28353	348	52	springer	springer	NOUN
bracis-28353	348	53	nature	nature	PROPN
bracis-28353	348	54	switzerland	switzerland	PROPN
bracis-28353	348	55	ag	ag	PROPN
bracis-28353	348	56	about	about	ADP
bracis-28353	348	57	this	this	DET
bracis-28353	348	58	paper	paper	NOUN
bracis-28353	348	59	cite	cite	VERB
bracis-28353	348	60	this	this	DET
bracis-28353	348	61	paper	paper	NOUN
bracis-28353	348	62	machado	machado	NOUN
bracis-28353	348	63	,	,	PUNCT
bracis-28353	348	64	w.c.c	w.c.c	PROPN
bracis-28353	348	65	.	.	PUNCT
bracis-28353	348	66	,	,	PUNCT
bracis-28353	348	67	dos	do	VERB
bracis-28353	348	68	santos	santos	PROPN
bracis-28353	348	69	,	,	PUNCT
bracis-28353	348	70	v.b	v.b	PROPN
bracis-28353	348	71	.	.	PROPN
bracis-28353	348	72	,	,	PUNCT
bracis-28353	348	73	de	de	PROPN
bracis-28353	348	74	barros	barros	PROPN
bracis-28353	348	75	,	,	PUNCT
bracis-28353	348	76	l.n	l.n	PROPN
bracis-28353	348	77	.	.	PROPN
bracis-28353	348	78	,	,	PUNCT
bracis-28353	348	79	de	de	PROPN
bracis-28353	348	80	menezes	menezes	PROPN
bracis-28353	348	81	,	,	PUNCT
bracis-28353	348	82	m.v	m.v	PROPN
bracis-28353	348	83	.	.	PROPN
bracis-28353	349	1	(	(	PUNCT
bracis-28353	349	2	2023	2023	NUM
bracis-28353	349	3	)	)	PUNCT
bracis-28353	349	4	.	.	PUNCT
bracis-28353	350	1	specifying	specify	VERB
bracis-28353	350	2	preferences	preference	NOUN
bracis-28353	350	3	over	over	ADP
bracis-28353	350	4	 	 	SPACE
bracis-28353	350	5	policies	policy	NOUN
bracis-28353	350	6	using	use	VERB
bracis-28353	350	7	branching	branch	VERB
bracis-28353	350	8	time	time	NOUN
bracis-28353	350	9	temporal	temporal	ADJ
bracis-28353	350	10	logic	logic	NOUN
bracis-28353	350	11	.	.	PUNCT
bracis-28353	351	1	in	in	ADP
bracis-28353	351	2	:	:	PUNCT
bracis-28353	351	3	naldi	naldi	PROPN
bracis-28353	351	4	,	,	PUNCT
bracis-28353	351	5	m.c	m.c	PROPN
bracis-28353	351	6	.	.	PROPN
bracis-28353	351	7	,	,	PUNCT
bracis-28353	351	8	bianchi	bianchi	PROPN
bracis-28353	351	9	,	,	PUNCT
bracis-28353	351	10	r.a.c	r.a.c	ADP
bracis-28353	351	11	.	.	PUNCT
bracis-28353	351	12	(	(	PUNCT
bracis-28353	351	13	eds	ed	NOUN
bracis-28353	351	14	)	)	PUNCT
bracis-28353	351	15	intelligent	intelligent	ADJ
bracis-28353	351	16	systems	system	NOUN
bracis-28353	351	17	.	.	PUNCT
bracis-28353	352	1	bracis	bracis	PROPN
bracis-28353	352	2	2023	2023	NUM
bracis-28353	352	3	.	.	PUNCT
bracis-28353	353	1	lecture	lecture	NOUN
bracis-28353	353	2	notes	note	NOUN
bracis-28353	353	3	in	in	ADP
bracis-28353	353	4	computer	computer	NOUN
bracis-28353	353	5	science	science	NOUN
bracis-28353	353	6	(	(	PUNCT
bracis-28353	353	7	)	)	PUNCT
bracis-28353	353	8	,	,	PUNCT
bracis-28353	353	9	vol	vol	NOUN
bracis-28353	353	10	14195	14195	NUM
bracis-28353	353	11	.	.	PUNCT
bracis-28353	354	1	springer	springer	NOUN
bracis-28353	354	2	,	,	PUNCT
bracis-28353	354	3	cham	cham	PROPN
bracis-28353	354	4	.	.	PUNCT
bracis-28353	355	1	https://doi.org/10.1007/978-3-031-45368-7_9	https://doi.org/10.1007/978-3-031-45368-7_9	NOUN
bracis-28353	355	2	download	download	PROPN
bracis-28353	355	3	citation	citation	NOUN
bracis-28353	355	4	.ris	.ris	PUNCT
bracis-28353	355	5	.enw	.enw	PROPN
bracis-28353	355	6	.bib	.bib	PUNCT
bracis-28353	356	1	doi	doi	PROPN
bracis-28353	356	2	:	:	PUNCT
bracis-28353	356	3	https://doi.org/10.1007/978-3-031-45368-7_9	https://doi.org/10.1007/978-3-031-45368-7_9	NUM
bracis-28353	356	4	published	publish	VERB
bracis-28353	356	5	:	:	PUNCT
bracis-28353	356	6	12	12	NUM
bracis-28353	356	7	october	october	PROPN
bracis-28353	356	8	2023	2023	NUM
bracis-28353	356	9	publisher	publisher	NOUN
bracis-28353	356	10	name	name	NOUN
bracis-28353	356	11	:	:	PUNCT
bracis-28353	356	12	springer	springer	NOUN
bracis-28353	356	13	,	,	PUNCT
bracis-28353	356	14	cham	cham	PROPN
bracis-28353	356	15	print	print	PROPN
bracis-28353	356	16	isbn	isbn	PROPN
bracis-28353	356	17	:	:	PUNCT
bracis-28353	356	18	978	978	NUM
bracis-28353	356	19	-	-	SYM
bracis-28353	356	20	3	3	NUM
bracis-28353	356	21	-	-	PUNCT
bracis-28353	356	22	031	031	NUM
bracis-28353	356	23	-	-	PUNCT
bracis-28353	356	24	45367	45367	NUM
bracis-28353	356	25	-	-	PUNCT
bracis-28353	356	26	0	0	NUM
bracis-28353	356	27	online	online	ADJ
bracis-28353	356	28	isbn	isbn	NOUN
bracis-28353	356	29	:	:	PUNCT
bracis-28353	356	30	978	978	NUM
bracis-28353	356	31	-	-	SYM
bracis-28353	356	32	3	3	NUM
bracis-28353	356	33	-	-	PUNCT
bracis-28353	356	34	031	031	NUM
bracis-28353	356	35	-	-	PUNCT
bracis-28353	356	36	45368	45368	NUM
bracis-28353	356	37	-	-	PUNCT
bracis-28353	356	38	7	7	NUM
bracis-28353	356	39	ebook	ebook	NOUN
bracis-28353	356	40	packages	package	NOUN
bracis-28353	356	41	:	:	PUNCT
bracis-28353	356	42	computer	computer	NOUN
bracis-28353	356	43	sciencecomputer	sciencecomputer	NOUN
bracis-28353	356	44	science	science	NOUN
bracis-28353	356	45	(	(	PUNCT
bracis-28353	356	46	r0	r0	NOUN
bracis-28353	356	47	)	)	PUNCT
bracis-28353	356	48	share	share	VERB
bracis-28353	356	49	this	this	DET
bracis-28353	356	50	paper	paper	NOUN
bracis-28353	356	51	anyone	anyone	PRON
bracis-28353	356	52	you	you	PRON
bracis-28353	356	53	share	share	VERB
bracis-28353	356	54	the	the	DET
bracis-28353	356	55	following	follow	VERB
bracis-28353	356	56	link	link	NOUN
bracis-28353	356	57	with	with	ADP
bracis-28353	356	58	will	will	AUX
bracis-28353	356	59	be	be	AUX
bracis-28353	356	60	able	able	ADJ
bracis-28353	356	61	to	to	PART
bracis-28353	356	62	read	read	VERB
bracis-28353	356	63	this	this	DET
bracis-28353	356	64	content	content	NOUN
bracis-28353	356	65	:	:	PUNCT
bracis-28353	356	66	get	get	VERB
bracis-28353	356	67	shareable	shareable	ADJ
bracis-28353	356	68	linksorry	linksorry	NOUN
bracis-28353	356	69	,	,	PUNCT
bracis-28353	356	70	a	a	DET
bracis-28353	356	71	shareable	shareable	ADJ
bracis-28353	356	72	link	link	NOUN
bracis-28353	356	73	is	be	AUX
bracis-28353	356	74	not	not	PART
bracis-28353	356	75	currently	currently	ADV
bracis-28353	356	76	available	available	ADJ
bracis-28353	356	77	for	for	ADP
bracis-28353	356	78	this	this	DET
bracis-28353	356	79	article	article	NOUN
bracis-28353	356	80	.	.	PUNCT
bracis-28353	357	1	copy	copy	VERB
bracis-28353	357	2	shareable	shareable	ADJ
bracis-28353	357	3	link	link	NOUN
bracis-28353	357	4	to	to	PART
bracis-28353	357	5	clipboard	clipboard	NOUN
bracis-28353	357	6	provided	provide	VERB
bracis-28353	357	7	by	by	ADP
bracis-28353	357	8	the	the	DET
bracis-28353	357	9	springer	springer	NOUN
bracis-28353	357	10	nature	nature	PROPN
bracis-28353	357	11	sharedit	sharedit	PROPN
bracis-28353	357	12	content	content	NOUN
bracis-28353	357	13	-	-	PUNCT
bracis-28353	357	14	sharing	share	VERB
bracis-28353	357	15	initiative	initiative	NOUN
bracis-28353	357	16	keywords	keyword	NOUN
bracis-28353	357	17	non	non	ADJ
bracis-28353	357	18	-	-	ADJ
bracis-28353	357	19	deterministic	deterministic	ADJ
bracis-28353	357	20	planning	planning	NOUN
bracis-28353	357	21	preferences	preference	NOUN
bracis-28353	357	22	temporal	temporal	ADJ
bracis-28353	357	23	logic	logic	NOUN
bracis-28353	357	24	publish	publish	VERB
bracis-28353	357	25	with	with	ADP
bracis-28353	357	26	us	us	PROPN
bracis-28353	357	27	policies	policy	NOUN
bracis-28353	357	28	and	and	CCONJ
bracis-28353	357	29	ethics	ethic	NOUN
bracis-28353	357	30	search	search	NOUN
bracis-28353	357	31	search	search	NOUN
bracis-28353	357	32	by	by	ADP
bracis-28353	357	33	keyword	keyword	NOUN
bracis-28353	357	34	or	or	CCONJ
bracis-28353	357	35	author	author	NOUN
bracis-28353	357	36	search	search	NOUN
bracis-28353	357	37	navigation	navigation	NOUN
bracis-28353	357	38	find	find	VERB
bracis-28353	357	39	a	a	DET
bracis-28353	357	40	journal	journal	NOUN
bracis-28353	357	41	publish	publish	VERB
bracis-28353	357	42	with	with	ADP
bracis-28353	357	43	us	we	PRON
bracis-28353	357	44	track	track	VERB
bracis-28353	357	45	your	your	PRON
bracis-28353	357	46	research	research	NOUN
bracis-28353	357	47	discover	discover	VERB
bracis-28353	357	48	content	content	NOUN
bracis-28353	357	49	journals	journal	NOUN
bracis-28353	357	50	a	a	DET
bracis-28353	357	51	-	-	PUNCT
bracis-28353	357	52	z	z	NOUN
bracis-28353	357	53	books	book	NOUN
bracis-28353	357	54	a	a	DET
bracis-28353	357	55	-	-	PUNCT
bracis-28353	357	56	z	z	NOUN
bracis-28353	357	57	publish	publish	NOUN
bracis-28353	357	58	with	with	ADP
bracis-28353	357	59	us	us	PROPN
bracis-28353	357	60	journal	journal	PROPN
bracis-28353	357	61	finder	finder	PROPN
bracis-28353	357	62	publish	publish	VERB
bracis-28353	357	63	your	your	PRON
bracis-28353	357	64	research	research	NOUN
bracis-28353	357	65	language	language	NOUN
bracis-28353	357	66	editing	edit	VERB
bracis-28353	357	67	open	open	ADJ
bracis-28353	357	68	access	access	NOUN
bracis-28353	357	69	publishing	publishing	NOUN
bracis-28353	357	70	products	product	NOUN
bracis-28353	357	71	and	and	CCONJ
bracis-28353	357	72	services	service	NOUN
bracis-28353	357	73	our	our	PRON
bracis-28353	357	74	products	product	NOUN
bracis-28353	357	75	librarians	librarian	VERB
bracis-28353	357	76	societies	society	NOUN
bracis-28353	357	77	partners	partner	NOUN
bracis-28353	357	78	and	and	CCONJ
bracis-28353	357	79	advertisers	advertiser	NOUN
bracis-28353	357	80	our	our	PRON
bracis-28353	357	81	brands	brand	NOUN
bracis-28353	357	82	springer	springer	NOUN
bracis-28353	357	83	nature	nature	PROPN
bracis-28353	357	84	portfolio	portfolio	PROPN
bracis-28353	357	85	bmc	bmc	PROPN
bracis-28353	357	86	palgrave	palgrave	PROPN
bracis-28353	357	87	macmillan	macmillan	PROPN
bracis-28353	357	88	apress	apress	PROPN
bracis-28353	357	89	discover	discover	VERB
bracis-28353	357	90	your	your	PRON
bracis-28353	357	91	privacy	privacy	NOUN
bracis-28353	357	92	choices	choice	NOUN
bracis-28353	357	93	/	/	SYM
bracis-28353	357	94	manage	manage	NOUN
bracis-28353	357	95	cookies	cookie	NOUN
bracis-28353	357	96	your	your	PRON
bracis-28353	357	97	us	us	PROPN
bracis-28353	358	1	state	state	NOUN
bracis-28353	358	2	privacy	privacy	NOUN
bracis-28353	358	3	rights	right	NOUN
bracis-28353	358	4	accessibility	accessibility	NOUN
bracis-28353	358	5	statement	statement	NOUN
bracis-28353	358	6	terms	term	NOUN
bracis-28353	358	7	and	and	CCONJ
bracis-28353	358	8	conditions	condition	NOUN
bracis-28353	358	9	privacy	privacy	NOUN
bracis-28353	358	10	policy	policy	NOUN
bracis-28353	358	11	help	help	NOUN
bracis-28353	358	12	and	and	CCONJ
bracis-28353	358	13	support	support	VERB
bracis-28353	358	14	legal	legal	ADJ
bracis-28353	358	15	notice	notice	NOUN
bracis-28353	358	16	cancel	cancel	VERB
bracis-28353	358	17	contracts	contract	NOUN
bracis-28353	358	18	here	here	ADV
bracis-28353	358	19	129.74.145.123	129.74.145.123	NUM
bracis-28353	358	20	hesburgh	hesburgh	PROPN
bracis-28353	358	21	library	library	PROPN
bracis-28353	358	22	er	er	INTJ
bracis-28353	358	23	unit	unit	NOUN
bracis-28353	358	24	(	(	PUNCT
bracis-28353	358	25	3005732405	3005732405	NUM
bracis-28353	358	26	)	)	PUNCT
bracis-28353	358	27	northeast	northeast	ADJ
bracis-28353	358	28	research	research	NOUN
bracis-28353	358	29	libraries	library	NOUN
bracis-28353	358	30	(	(	PUNCT
bracis-28353	358	31	nerl	nerl	PROPN
bracis-28353	358	32	)	)	PUNCT
bracis-28353	358	33	(	(	PUNCT
bracis-28353	358	34	8200828607	8200828607	NUM
bracis-28353	358	35	)	)	PUNCT
bracis-28353	358	36	nerl	nerl	VERB
bracis-28353	358	37	ta	ta	X
bracis-28353	358	38	account	account	NOUN
bracis-28353	358	39	(	(	PUNCT
bracis-28353	358	40	3006206169	3006206169	NUM
bracis-28353	358	41	)	)	PUNCT
bracis-28353	358	42	university	university	NOUN
bracis-28353	358	43	of	of	ADP
bracis-28353	358	44	notre	notre	PROPN
bracis-28353	358	45	dame	dame	PROPN
bracis-28353	358	46	hesburgh	hesburgh	PROPN
bracis-28353	358	47	library	library	NOUN
bracis-28353	358	48	(	(	PUNCT
bracis-28353	358	49	3000184373	3000184373	NUM
bracis-28353	358	50	)	)	PUNCT
bracis-28353	359	1	©	©	ADP
bracis-28353	359	2	2025	2025	NUM
bracis-28353	359	3	springer	springer	NOUN
bracis-28353	359	4	nature	nature	NOUN