---
title: "Temporal Planning in Domains with Linear Processes"
authors:
  - "Amanda Jane Coles"
  - "Andrew Coles"
  - "Maria Fox"
  - "Derek Long"
doi: ""
url: "https://ijcai.org/proceedings/2009/279"
pdf: "https://ijcai.org/proceedings/2009/0279.pdf"
venue: "Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence"
year: 2009
pages: "1671-1675"
track: ""
keywords:
---

# Temporal Planning in Domains with Linear Processes

Amanda Jane Coles, Andrew Coles, Maria Fox, Derek Long

*Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence*, pages 1671-1675.

## Abstract

We consider the problem of planning in domains with continuous linear numeric change. Such change cannot always be adequately modelled by discretisation and is a key facet of many interesting problems. We show how a forward-chaining temporal planner can be extended to reason with actions with continuous linear effects. We extend a temporal planner to handle numeric values using linear programming. We show how linear continuous change can be integrated into the same linear program and we discuss how a temporal-numeric heuristic can be used to provide the search guidance necessary to underpin continuous planning. We present results to show that the approach can effectively handle duration-dependent change and numeric variables subject to continuous linear change.Amanda Coles, Andrew Coles, Maria Fox, Derek Long