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Fig. 4. The effect of Customization Formulae
the CF. The policy tree is simply a concise representation of those admissible plans -
with the difference that it includes only the mixed-agent tasks. In particular, each node
of the policy tree represents a task in the goal model. Given a set of plans P -where
human-agent tasks have been removed - the policy tree is constructed in a way that
every sequence of nodes that constitutes a path from the root to a leaf node is a plan in
P and vice versa. It follows that every intermediate node in the policy tree represents
both a plan prefix - i.e. the first n tasks of a plan - that can be found in P (by looking at
the path from the root) and a set of continuation possibilities that yield complete plans
of P (by looking at possible paths towards the leafs).
 
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