TALplanner: A temporal logic based forward chaining planner

We present TALplanner, a forward-chaining planner based on the use of domai n-dependent search control knowledge represented as formulas in the Tempora l Action Logic (TAL). TAL is a narrative based linear metric time logic use d for reasoning about action and change in incompletely specified dynamic e nvironments. TAL is used as the formal semantic basis for TALplanner, where a TAL goal narrative with control formulas is input to TALplanner which th en generates a TAL narrative that entails the goal and control formulas. Th e sequential version of TALplanner is presented. The expressivity of plan o perators is then extended to deal with an interesting class of resource typ es. An algorithm for generating concurrent plans, where operators have vary ing durations and internal state, is also presented. All versions of TALpla nner have been implemented. The potential of these techniques is demonstrat ed by applying TALplanner to a number of standard planning benchmarks in th e literature.