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Suggests planning by using a simulator to look ahead, predict potential conflicts, and improve current plans according to simple heuristics. The simulator may operate in cycles separated by either time or events. In the time-step simulation, with each repetition, time is incremented, rules are applied to current data values, and state variables are revised as necessary. An event driven simulation would step from event to event computing times of occurrence analytically. Level of abstraction (e.g., simulation granularity) would vary to enable highly efficient searching.

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