Planners used in real world for planning and scheduling are more complex, so that select the followi

Planners used in real world for planning and scheduling are more complex, so that select the following correct things which should be extend:现实世界中用于规划和调度的规划者更为复杂，因此选择以下哪些应该扩展。

A.the representation language表示语言

B.the planning algorithms规划算法

C.the way to interact with environment与环境交互的方式

D.the approach used for planning用于规划的途径

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