PDDL+

Schedules break in the small gaps. A delivery truck leaves at the right time, but the loading dock was not open yet. A watering pump arrives near the plant, but the tap is not being opened by the second worker at the same moment. A rescue boat reaches the correct coordinate, but after the deadline. In normal business language, these are “coordination issues.” In automated planning language, they are temporal constraints, numeric resources, durative actions, invariants, and interference rules. ...