STRIPS
| ?- plan([on(a,b),on(b,c),on(c,table),clear(a)],[on(a,c)],S,Plan).
Considering action: puton(a,c)
Solving precondions: [clear(a),on(a,b),clear(c)]
Considering action: puton(b,table)
Solving precondions: [clear(b),on(b,c)]
Considering action: puton(a,table)
Solving precondions: [clear(a),on(a,b)]
Solving rest of goals: []
Solving rest of goals: []
Solving rest of goals: []
S = [on(c,table),clear(a),on(a,table),
on(b,table),on(a,c),clear(b)],
Plan = [puton(a,table),puton(b,table),puton(a,c)] ?