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The treatment of exogenous events in planning is practically important inmany real-world domains where the preconditions of certain plan actions areaffected by such events. In this paper we focus on planning in temporal domainswith exogenous events that happen at known times, imposing the constraint thatcertain actions in the plan must be executed during some predefined timewindows. When actions have durations, handling such temporal constraints addsan extra difficulty to planning. We propose an approach to planning in thesedomains which integrates constraint-based temporal reasoning into a graph-basedplanning framework using local search. Our techniques are implemented in aplanner that took part in the 4th International Planning Competition (IPC-4). Astatistical analysis of the results of IPC-4 demonstrates the effectiveness ofour approach in terms of both CPU-time and plan quality. Additional experimentsshow the good performance of the temporal reasoning techniques integrated intoour planner.

An Approach to Temporal Planning and Scheduling in Domains with Predictable Exogenous Events