A Fast Incremental Dynamic Controllability Algorithm

In most real-world planning and scheduling problems, the plan will contain activities of uncertain duration whose precise timing is observed rather than controlled by the agent. In many cases, in order to satisfy the temporal constraints imposed by the plan, the agent must dynamically adapt the schedule of the plan in response to these uncertain observations. Previous work has introduced a polynomial-time dynamic controllability (DC) algorithm, which reformulates the temporal constraints of the plan into a dispatchable form, which is amenable for efficient