Action representation for planning using truth maintenance system

The authors discuss the utility of a truth maintenance system (TMS) in action representation and plan modification. They present a way of representing actions and their effects in a TMS that is useful as a step towards a planner using TMS dependency structures. An action is represented as a TMS node. Action preconditions are explicitly represented. The authors represent effects of actions by modifying justifications. A way to construct a partial temporal order of actions is suggested. They also give a partial solution to the culprit identification problem.