@. Coffee-available, Ca " ) requires Preparing(C) ( " CP " ) which requires no-coffee-available, Preparing(C) is performed while At(Caffet) ( " @(Caffet) " ) after Preparing(M )( " MP " )

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. Example and .. Dala-plan, 138 8.13 Modelling the robot basic actions using, p.139

. Example and .. Dala-plan-with-opportunistic-science, 142 8.16 Representation of an Interruptible action, p.142

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