@@ -78,7 +78,7 @@ Our method relaxes constraints only when tasks are parallelizable.
\subsection{Plan Synthesis Using Generic Programming}
\citet{KoopmanP2009} use the generic programming facilities of the Clean programming language \cite{Plasmeijer2002} together with the test framework Gast \cite{Gast} to synthesize functions that fulfil a given specification.
\citet{KoopmanP2009} use the generic programming facilities of the Clean programming language \cite{Plasmeijer2002} together with the test framework Gast \cite{KoopmanATP2002} to synthesize functions that fulfil a given specification.
We used ideas from this paper to synthesize plans, by regarding a plan as a special kind of program with actions in place of instructions.
Actions have an effect on the global state, and the synthesis algorithm uses as specification a predicate on the state.
The algorithm tries to find a plan that modifies the global state until the state fulfils the specification.
