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While many planning systems have sophisticated temporal
models <e.g.,>laborie:95,muscettola:94 and some
additionally use hierarchical representations of alternative courses
of action [Allen, Kautz, Pelavin, Tenenberg, 1991, Currie Tate, 1991, Chien, Knight, Stechert, Sherwood, Rabideau, 2000a, Castillo, Fdez-Olivares, García-Pérez, Palao, 2006], we know of no other work that
extends the hierarchical task network (HTN) formalization
[Erol, Hendler, Nau, 1994a, Erol, Nau, Hendler, 1994b] to include temporal extent.
We need such a formalism in order to clarify the semantics of summary
information and concurrently executing agents.