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Again, however, simplicity comes at a price. g. the experimental study by Barret & Weld, 1994). g. UCPOP, Penberthy & Weld, 1992; an experimental comparison is presented by Blum & Furst, 1997) is explainable by the fact that development of effective domain-independent search control heuristics for partial order planning has been slower than for the simpler methods. More recently POCL planning and planning methods based on SAT, IP and CSP encodings have been combined with effective heuristics, which has demonstrated that the advantage of non-directional search still exists.

2000). The fundamental concept in the CBI model is a time line, which is a function from time to values representing some aspect of the world state. A time line can also be seen as the history (or evolution) of a single state variable over the course of the plan. Such a variable can represent not only state, in the 28 conventional sense, but also on-going activity. Time line values are ascribed meaning by constraints, which describe the valid transitions between values on each time line and dependencies between values on different time lines (this use of constraints to describe the planning problem is not the same as the use of constraints and CSP techniques to represent and reason with search states, which has been applied also in planning systems using temporal STRIPS or similar models).

The fundamental concept in the CBI model is a time line, which is a function from time to values representing some aspect of the world state. A time line can also be seen as the history (or evolution) of a single state variable over the course of the plan. Such a variable can represent not only state, in the 28 conventional sense, but also on-going activity. Time line values are ascribed meaning by constraints, which describe the valid transitions between values on each time line and dependencies between values on different time lines (this use of constraints to describe the planning problem is not the same as the use of constraints and CSP techniques to represent and reason with search states, which has been applied also in planning systems using temporal STRIPS or similar models).

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