Fig. 22. Scheduling task network of shuffle problem by SAMELEN. Curved lines show resource spans and numbers next to them are the resource allocated. Dashed lines represent ordering constraints. Arrows refer to the movement of actions to a lower, less-constrained level.
the original planner and solves the problem without abstraction. However, as empirically shown in Section 7.2.1, this penalty is small and easily offset by the savings in other classes. As mentioned earlier, the reason a series of methods is used in this order is to keep the number of additional actions as small as possible while maintaining the optimal plan length.