Planning in time - Windows and durations for activities and goals

The present general purpose automated planner/scheduler generates parallel plans aimed at the achievement of goals having imposed time constraints, with both durations and start time windows being specifiable for sets of goal conditions. Deterministic durations of such parallel plan activities as actions, events triggered by circumstances, inferences, and scheduled events entirely outside the actor's control, are explicitly modeled and may be any computable function of the activity variables. The final plan network resembles a PERT chart. Examples are given from the traditional 'blocksworld', and from a realistic 'Spaceworld' in which an autonomous spacecraft photographs objects in deep space and transmits the information to earth.