Temporal Planning with Continuous Change 3

We present zeno, a least commitment planner that handles actions occurring over extended intervals of time. Deadline goals, metric preconditions, metric e ects, and continuous change are supported. Simultaneous actions are allowed when their e ects do not interfere. Unlike most planners that deal with complex languages, the zeno planning algorithm is sound and complete. The running code is a complete implementation of the formal algorithm, capable of solving simple problems (i.e., those involving less than a dozen steps).

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