Temporal Planning with Constraints (Preliminary Report)
J. Scott Penberthy, Daniel S. Weld · 1993
We present ZENO, an implemented, partial-order planner that handles simultaneous ac-tions occurring over extended time intervals. The action language supports a large subset of KRSL, including metric constraints, dead-line goals, and synergistic (additive) effects. We believe the algorithm is both sound and complete. The chief technical contributions are (1) token reduction breaks complex goals into pieces that can be systematically sup-ported, (2) incremental algorithms from op-erations research determine the consistency of temporal and other metric constraints, and (3) lazy evaluation and the Mean Value The-orem are exploited to cope with actions in-volving continuous change. 1