STRIPS
% plan(+InitState,+GoalState,-EndState,-Plan)
plan(State,Goals,State,[]) :-
diff(Goals,State,[]), !.
plan(State,Goals,EndState,Plan) :-
one_step_plan(State,Goals,NextState,Plan1),
plan(NextState,Goals,EndState,Plan2),
append(Plan1,Plan2,Plan).
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