
Chapter
13
Time for Planning
13.1 Introduction
The purpose of this chapter is to present temporal representations and temporal
reasoning techniques that are useful to planning with time and resources. Temporal
planning itself will not be covered until the next chapter.
The mathematical structure of time is generally a set with a transitive and asym-
metric ordering operation. It can be discrete, dense or continuous, bounded or
unbounded, totally ordered or branching.
1
We will rely here on a simple structure
of time as modeled by the set of real numbers.
The chapter introduces, informally through examples, temporal references and
temporal relations (Section ...