17. The system according to claim 13 , wherein said at least one planner determines a plan cost for each plan based on a predetermined action costs for the actions present in the plan.
17. The system according to claim 13 , wherein said at least one planner determines a plan cost for each plan based on a predetermined action costs for the actions present in the plan. 18. The system according to claim 17 , wherein said hypotheses generator displays each of the resulting hypotheses with a respective score based on the plan cost.