In this section, we will discuss how constraint satisfaction, solution synthesis and branch-and-bound techniques were modified and adapted in creating the Hunter-Gatherer control architecture. We will demonstrate how constraint satisfaction information allow us to identify ``circuits'' of inter-dependence in the input. Solutions for each circuit are synthesized apart from the rest of the problem.
Branch-and-bound techniques were refined for use with the solution synthesis and constraint satisfaction methods. As each of the ``circuits'' mentioned above are synthesized, certain variables will no longer be dependent on nodes outside of the circuit. These variables can be optimized, with non-optimal solutions ``bound'' and eliminated. This particular merging of techniques accounts for the majority of savings produced by our system.