This installment of the notes covers SNLP (Systematic NonLinear Planning). This algorithm first appeared in these course notes but has since been published in the paper "Systematic Nonlinear Planning".
Nonlinear Planning provides an excellent motivation for the concept of lifting. In my opinion the material on nonlinear planning should never be taught without simultaniously teaching the general lifting transformation presented in the next installment of the notes .
David McAllester, February, 1995