Strong temporal planning with uncontrollable durations

摘要

Planning in real world domains often involves modeling and reasoning about the duration of actions. Temporal planning allows such modeling and reasoning by looking for plans that specify start and end time points for each action. In many practical cases, however, the duration of actions may be uncertain and not under the full control of the executor. For example, a navigation task may take more or less time, depending on external conditions such as terrain or weather.