15.4 Integrating Planning and Scheduling 367
A solution plan for the problem P is a set π ={a
1
, ..., a
n
} of actions, each being
an instance of an operator in O, such that there is a chronicle in γ (, π) that
entails
g
.
Note that this formulation of a planning problem does not consider optimization
criteria; it only seeks a feasible plan. Consequently, the approach of the chronicle
planning procedure CP (Figure 14.7) is applicable here with an important extension:
instead of dealing with only two types of flaws—open goals and threats—we also
have to detect and manage resource conflict flaws.
15.4.2 Detecting Resource Conflicts
The chronicle planning procedure CP maintains a current chronicle = (F, C),
which is refined successively for various types of ...