Temporal Planning

Time Representation

Duration

(:durative-action cook
  :duration (= ?duration 30)
  :condition (at start (has-ingredients))
  :effect (at end (food-ready))
)

Concurrent Actions

Actions can execute simultaneously if non-interfering.

Synchronization

• Start conditions: When action can begin
• End conditions: When action completes
• Over all conditions: Must hold throughout

Scheduling

Integration of planning and scheduling:

1. Planning: What actions to execute
2. Scheduling: When to execute them

Metrics

• Makespan: Total completion time
• Total cost: Sum of action costs
• Earliness: Penalize late goals

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