diff --git a/encodings/strips/redundancy.lp b/encodings/strips/redundancy.lp
index 3a9cf91..ad8b891 100644
--- a/encodings/strips/redundancy.lp
+++ b/encodings/strips/redundancy.lp
@@ -1,6 +1,12 @@
 % Additional rules for enforcing the inclusion of parallel actions in plans,
 % whenever such 'redundant' actions are compatible with states and other actions
 
+compatible(A,A1)  :- active(A), active(A1), A != A1, _parallel = 2,
+                     not diverge(A,A1), not diverge(A1,A).
+disable(A,A1,A2)  :- disable(A1,A2), compatible(A,A1), compatible(A,A2).
+disabled(A,A2)    :- disable(A,A1,A2).
+disabled(A,A2)    :- disable(A,A2), _parallel = 2.
+
 #program step(t).
 
 defeated(A,t) :- active(A), postcondition(A,X,V), fluent(X), not holds(X,V,t),
@@ -12,12 +18,14 @@ defeated(A,t) :- _parallel = 1, active(A), postcondition(A,X,V), not preconditio
                  single(X,t).
 
 proceed(A,X,V,t) :- active(A), holds(X,V,t-1), scope(X,V).
-proceed(A,X,V,t) :- active(A), occurs(A1,t), perform(A,A1,t), A != A1,
+proceed(A,X,V,t) :- compatible(A,A1), occurs(A1,t), perform(A,A1,t),
                     postcondition(A1,X,V), scope(X,V), not precondition(A1,X,V).
 
-perform(A,A1,t) :- active(A), active(A1), A != A1, _parallel = 2, not occurs(A1,t).
-perform(A,A1,t) :- active(A), active(A1), _parallel = 2,
-                   proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A1,A2).
+perform(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
+perform(A,A1,t) :- compatible(A,A1),
+                   proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A,A1,A2).
+perform(A,A,t)  :- active(A), _parallel = 2,
+                   proceed(A,X,V,t) : precondition(A,X,V); perform(A,A2,t) : disable(A,A2).
 
 defeated(A,t) :- _parallel = 2, active(A), not perform(A,A,t).