This can lead to a stack of substates, where traditional problem methods, such as planning or hierarchical task decomposition, naturally arise.
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With his Ph . D . thesis " " Randwertproblemmethoden zur Parameteridentifizierung in Systemen nichtlinearer Differentialgleichungen " " ( Boundary-value problem methods for parameter estimation in systems of nonlinear differential equations ) completed under the supervision of Jens Frehse and Roland Z . Bulirsch, he received a Ph . D . in applied mathematics from the University of Bonn in 1986.
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