Table 4 Disruption-recovery action...

Table 4

Disruption-recovery action schemas

Action	Preconditions		Effects		Duration
Action	ann.	predicate	ann.	predicate	Duration
DriveEngine ToDamaged UpTrain (e, t, $n_{i}, n_{j}$ ,g)	Start	engine_at(e, $n_{i}) u p (n_{i}, n_{j}$ ) engine_gauge(e, g) train_at(t, $n_{j}$ ) engine_free(e) track_gauge( $n_{i}$ , $n_{j}$ , g) train_gauge(t,g) engine_damaged(t, $n_{j}$ ) heading_up(t) heading_down(e) track_clear( $n_{i}$ , $n_{j}$ ) track_accessible( $n_{i}$ , $n_{j}$ )	Start	$\neg$ engine_at(e, $n_{i}) f r e e (n_{i}$ ) $\neg$ track_accessible( $n_{i}$ , $n_{j}$ ) $\neg$ track_accessible( $n_{j}$ , $n_{i}$ )	$τ_{v_{a} (e)} (n_{i}, n_{j})$
DriveEngine ToDamaged UpTrain (e, t, $n_{i}, n_{j}$ ,g)	Over-all	connected( $n_{i}$ , $n_{j}$ ) train_at(t, $n_{j}$ )	End	engine_at(t, $n_{j}$ ) heading_up(e) $\neg$ heading_down(e) track_accessible( $n_{i}$ , $n_{j}$ track_accessible( $n_{j}$ , $n_{i}$ )	$τ_{v_{a} (e)} (n_{i}, n_{j})$
AttachEngine (e, t, n)	Start	engine_at(e, n) train_at(t, n) engine_free(e) engine_damaged(t, n)	Start	$\neg$ engine_free(e)	$μ (e)$
AttachEngine (e, t, n)	Over-all	engine_at(e, n) train_at(t, n)	End	engine_attached(e, t)	$μ (e)$
DriveAssisted Train (e, t, $n_{i}, n_{j}$ , g)	Start	engine_attached(e, t) train_at(t, $n_{i}$ ) engine_at(e, $n_{i}$ ) engine_gauge(e, g) track_gauge( $n_{i}$ , $n_{j}$ , g) track_clear( $n_{i}$ , $n_{j}$ ) track_accessible( $n_{i}$ , $n_{j}$ ) $\neg$ train_blocked(t, $n_{i}$ )	Start	$\neg$ train_at(t, $n_{i}) f r e e (n_{i}$ ) $\neg$ engine_at(e, $n_{i}$ ) $\neg$ engine_damaged(t, $n_{i}$ ) $\neg$ track_accessible( $n_{i}$ , $n_{j}$ ) $\neg$ track_accessible( $n_{j}$ , $n_{i}$ )	$τ_{v_{a} (e)} (n_{i}, n_{j})$
	Over-all	connected( $n_{i}$ , $n_{j}$ ) free( $n_{j}$ )	End	train_at(t, $n_{j}$ ) $\neg$ free( $n_{j}$ ) engine_at(e, $n_{j}$ ) engine_damaged(t, $n_{i}$ ) track_accessible( $n_{j}$ , $n_{i}$ ) track_accessible( $n_{j}$ , $n_{i}$ )
	End	free( $n_{j}$ )	End
ResolveTrain Blockage(t, n)	Start	train_blocked(t, n) train_at(t, n)	End	$\neg$ train_blocked(t, n)	$ρ (t, n)$
ResolveTrain Blockage(t, n)	Over-all	train_at(t, n)	End	$\neg$ train_blocked(t, n)	$ρ (t, n)$
ClearBlocked Track( $n_{i}$ , $n_{j}$ )	Start	track_blocked( $n_{i}$ , $n_{j}$ )	End	track_clear( $n_{i}$ , $n_{j}$ ) track_clear( $n_{j}$ , $n_{i}$ ) $\neg$ track_blocked( $n_{i}$ , $n_{j}$ ) $\neg$ track_blocked( $n_{j}$ , $n_{i}$ )	$κ (n_{i}, n_{j})$

Action	Preconditions		Effects		Duration
Action	ann.	predicate	ann.	predicate	Duration
DriveEngine ToDamaged UpTrain (e, t, $n_{i}, n_{j}$ ,g)	Start	engine_at(e, $n_{i}) u p (n_{i}, n_{j}$ ) engine_gauge(e, g) train_at(t, $n_{j}$ ) engine_free(e) track_gauge( $n_{i}$ , $n_{j}$ , g) train_gauge(t,g) engine_damaged(t, $n_{j}$ ) heading_up(t) heading_down(e) track_clear( $n_{i}$ , $n_{j}$ ) track_accessible( $n_{i}$ , $n_{j}$ )	Start	$\neg$ engine_at(e, $n_{i}) f r e e (n_{i}$ ) $\neg$ track_accessible( $n_{i}$ , $n_{j}$ ) $\neg$ track_accessible( $n_{j}$ , $n_{i}$ )	$τ_{v_{a} (e)} (n_{i}, n_{j})$
DriveEngine ToDamaged UpTrain (e, t, $n_{i}, n_{j}$ ,g)	Over-all	connected( $n_{i}$ , $n_{j}$ ) train_at(t, $n_{j}$ )	End	engine_at(t, $n_{j}$ ) heading_up(e) $\neg$ heading_down(e) track_accessible( $n_{i}$ , $n_{j}$ track_accessible( $n_{j}$ , $n_{i}$ )	$τ_{v_{a} (e)} (n_{i}, n_{j})$
AttachEngine (e, t, n)	Start	engine_at(e, n) train_at(t, n) engine_free(e) engine_damaged(t, n)	Start	$\neg$ engine_free(e)	$μ (e)$
AttachEngine (e, t, n)	Over-all	engine_at(e, n) train_at(t, n)	End	engine_attached(e, t)	$μ (e)$
DriveAssisted Train (e, t, $n_{i}, n_{j}$ , g)	Start	engine_attached(e, t) train_at(t, $n_{i}$ ) engine_at(e, $n_{i}$ ) engine_gauge(e, g) track_gauge( $n_{i}$ , $n_{j}$ , g) track_clear( $n_{i}$ , $n_{j}$ ) track_accessible( $n_{i}$ , $n_{j}$ ) $\neg$ train_blocked(t, $n_{i}$ )	Start	$\neg$ train_at(t, $n_{i}) f r e e (n_{i}$ ) $\neg$ engine_at(e, $n_{i}$ ) $\neg$ engine_damaged(t, $n_{i}$ ) $\neg$ track_accessible( $n_{i}$ , $n_{j}$ ) $\neg$ track_accessible( $n_{j}$ , $n_{i}$ )	$τ_{v_{a} (e)} (n_{i}, n_{j})$
	Over-all	connected( $n_{i}$ , $n_{j}$ ) free( $n_{j}$ )	End	train_at(t, $n_{j}$ ) $\neg$ free( $n_{j}$ ) engine_at(e, $n_{j}$ ) engine_damaged(t, $n_{i}$ ) track_accessible( $n_{j}$ , $n_{i}$ ) track_accessible( $n_{j}$ , $n_{i}$ )
	End	free( $n_{j}$ )	End
ResolveTrain Blockage(t, n)	Start	train_blocked(t, n) train_at(t, n)	End	$\neg$ train_blocked(t, n)	$ρ (t, n)$
ResolveTrain Blockage(t, n)	Over-all	train_at(t, n)	End	$\neg$ train_blocked(t, n)	$ρ (t, n)$
ClearBlocked Track( $n_{i}$ , $n_{j}$ )	Start	track_blocked( $n_{i}$ , $n_{j}$ )	End	track_clear( $n_{i}$ , $n_{j}$ ) track_clear( $n_{j}$ , $n_{i}$ ) $\neg$ track_blocked( $n_{i}$ , $n_{j}$ ) $\neg$ track_blocked( $n_{j}$ , $n_{i}$ )	$κ (n_{i}, n_{j})$

Note(s): Shorthands as in Table 2. The $D r i v e E n g i n e T o D a m a g e d D o w n T r a i n$ variant mirrors the up-variant, with $d o w n$ and $h e a d i n g_d o w n$ in place of $u p$ and $h e a d i n g_u p$ ⁠, and the engine heading flipped accordingly. Dispatch actions do not require the destination to be free, as it is occupied by the disabled train. $μ (e)$ ⁠, $ρ (t, n)$ and $κ (n_{i}, n_{j})$ denote the times to attach the engine, resolve a train blockage and resolve a track disruption, respectively

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