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problem into a number of simpler planning problems. This effect can make continual
planning in open-ended domains sufficiently fast for real world domains. Additionally,
it should be considered that the execution of a single action is often much more time
intensive for several agents (e.g., robots) than the planning phases of the evaluated do-
mains.
Acknowledgements. This work is founded by the DFG German Research Foundation
(grant #1247), International Research Training Group CINACS (Cross-modal Interac-
tions in Natural and Artificial Cognitive Systems).
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