Construct levels 0, 1, and 2 of the planning graph for the problem in Figure 10.1.

Figure 10.1

Init(At (1, SFO) At(>, JFK) At(P, SFO) At(>, JFK) go (C) argo(C>) ^ Plane (P.) Plane(P:) Aiport (JFK) Airport ( SFO ) ) Goal(At (C1, JF) At(2, SFO)) Action (Load (c, p, a), PRECOND: At(c, ) At(p, ) argo (c) ^ Plan () ^ irort (a) At(c, a) In(, )) EFFECT: Action(Unload(c, p, a), PRECOND: In(, ) At (p, a) argo (c) ^ Plane (p) ^ Airport() EFFECT: At(c, a) ^ - Action(Fly(p, from, to), PRECOND: At (p, from) ^ Plane(p) iort (from) iort (to) EFFECT: At(p, from) ^ At(p, to)) - In(c, p))