| Abstract | .... 2 | |
| 1 | Introduction | .... 2 |
| 2 | Basic Concepts | .... 2 |
| 2.1 | Layout Problem and Solution Representation | .... 2 |
| 2.2 | Recursive Problem Solving | .... 3 |
| 2.3 | Problems and Solutions | .... 3 |
| 3 | Overview of Co-HLEX | .... 4 |
| 3.1 | The Problem Solving Kernel | .... 4 |
| 3.2 | Plan Frames | .... 6 |
| 3.3 | I/O Function | .... 6 |
| 4 | Computational Complexity of HRCTL | .... 6 |
| 5 | Experiments | .... 7 |
| 5.1 | Experiment Design | .... 7 |
| 5.2 | Experiments Results | .... 7 |
| 5.3 | Considerations | .... 7 |
| 6 | Conclusion | .... 8 |
| 6.1 | Results | .... 8 |
| 6.2 | New Prblems | .... 8 |
| Acknowledgements | .... 8 | |
| References | .... 9 |
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