Qualitative models for planning: A gentle introduction

Qualitative modeling is the study of how the physical world behaves. These physical models accept partial descriptions of the world and output the possible changes. Current systems assume that the model is static and that physical entities do not effect change into the world. An approach to planning in physical domains and a working implementation which integrates qualitative models with a temporal interval-based planner are described. The planner constructs plans involving physical qualities and their behavioral descriptions.