@techreport{R-91-11, TITLE = {Parallel Non-Binary Planning in Polynomial Time: The SAS-PUS Class}, AUTHOR = {Christer B{\"a}ckstr{\"o}m and Inger Klein}, YEAR = {1991}, NUMBER = {R-91-11}, INSTITUTION = ida, ADDRESS = idaaddr, ABSTRACTURL = {/publications/cgi-bin/tr-fetch.pl?r-91-11+abstr}, ABSTRACT = {This paper formally presents a class of planning problems, the SAS-PUS class, which allows non-binary state variables and parallel execution of actions. The class is proven to be tractable, and we provide a sound and complete, polynomial time algorithm for planning within this class. Since the SAS-PUS class is an extension of the previously presented SAS-PUBS class, this result means that we are getting closer to tackling realistic planning problems in sequential control. In such problems, a restricted problem representation is often sufficient but the size of the problems make tractability an important issue.}, IDANR = {LiTH-IDA-R-91-11}, NOTE = {A short version is accepted to the 12th International Joint Conference on Artificial Intelligence (IJCAI'91). Sydney, Australia, August 24-30, 1991}