PDDL2.1: an extension to PDDL for expressing temporal planning domains
Journal of Artificial Intelligence Research
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We show the expressiveness provided by a labelled point-based metric model for specifying and reasoning about complex disjunctive temporal constraints. The model allows us to manage disjunctive assertions, conjunctive and hypothetical queries, and one-to-many constraints. Additionally, it becomes an adequate support for reasoning on costs associated to constraints1.