LAO* is a heuristic search algorithm that can find optimal solutions for MDPs without evaluating the entire state space, and takes the form of a cyclic graph,that is, a solution with loops.

State space search involves finding a path from the initial state of a search problem to a goal state.

"Classical AI planning is concerned with the generation of plans to achieve a set of pre-defined goals in situations where most relevant conditions in the outside world are known, and where the plan's success is not affected by changes in the outside world" Qiang Yang.

TRPG is employed in CRIKEY3. The durative actions are splitting into start and end snap-actions, possitive and negative effects, respectively.