310 Chapter 14 Temporal Planning
the combined actions. Joint effects of concurrent and interfering actions will be
dealt with here.
In order to specify a temporal planning domain and a problem as input to a
planner, one needs a language. The purpose of this chapter is not to formalize
such a language but instead to focus on the semantics of its underlying representa-
tion and to present temporal planning techniques. Two closely related approaches
will be considered. The first one relies on extending the usual planning operators
to include temporal preconditions and effects. That approach has a pedagogical
merit: it introduces progressively most of the concepts needed in this chapter while
keeping a representation as close as possible to that of classical ...