Sussman Anomaly

Sussman Anomaly

http://en.wikipedia.org/wiki/Sussman_Anomaly

Sussman Anomaly

In fact, the only reason this 'anomaly' even exists is because it lacks a base case.
Add the goal C atop table and the planner can easily figure out the order of execution from the trivially satisfiable subgoals and the goals which depend on them.
So, with the initial goals

1. A atop B
2. B atop C
3. C atop table

3. is trivialy satisfiable as it is the base case. Once 3. is satisfied, 2. is trivially satisfiable, and so on.
Thus I win.