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2 5 6 . . 10 11 18 22 After sensing, only worlds where the light is on are possible. . . . . . . . . . 1 Some frames from a simple airplane animation. . . . . . . . 2 A simple maze. . . . . . . . . . . . . . . . . 3 Visited cells. . . . . . . . . . . . . . . . . . 4 Choice of possibilities for a next cell to move to. . . . . . . . 5 Just one possibility for a next cell to move to. . . . . . . . . 6 Updating maze fluents.

1 Procedures . . . . . . . . . . . . . . . . . . . . . . . 2 Pre-condition axioms . . . . . . . . . . . . . . . . . . . . . 3 Successor-state axioms . . . . . . . . . . . . . . . . . . . . 1 Shifting the burden of the work. . . . . . . . . . . . . . . .

3 Interaction between CDW, the animator and the low-level reactive behavior system. . . 1 Kinematics . . . . . . . 2 Joint and Link Parameters . . . 4 Design Space . . . . . . . 1 . . . . . damper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 5 6 . . 10 11 18 22 After sensing, only worlds where the light is on are possible.

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