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The application of AI planning techniques to manufacturing systems is being widely deployed for all the tasks involved in the process, from product design to production planning and control. One of these problems is the automatic generation of control sequences for the entire manufacturing system in such a way that final plans can be directly used as the sequential control programs which drive the operation of manufacturing systems. Hybis is a hierarchical and nonlinear planner whose goal is todoi:10.1080/08839510490964491 fatcat:g3dpxeg6nfextmsrufuoict3lq