• Non-hierarchical planning: All actions can be considered at all times.

• Hierarchical planning: Break goal down into subgoals, recursively. Problem: subgoals may interact.

• Linear planning: Assume no interactions between subgoals.
• Nonlinear planning: Subgoals interact.
  • Paint the ladder and paint the ceiling.

  • Buy a car and a boat for less than $25,000.

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