Planning with temporally extended goals has recently been the focus of much attention to researchers in the planning community. We study a class of planning goals where in addition to a main goal there exist other goals, which we call auxiliary goals, that act as constraints to the main goal. Both these type of goals can, in general, be a temporally extended goal. Linear temporal logic (LTL) is inadequate for specification of the overall goals of this type, although, for some situations, it is capable of expressing them separately. A branching-time temporal logic, like CTL, on the other hand, can be used for specifying these goals. However, we are interested in situations where an auxiliary goal has to be satisfiable within a fixed bound. We show that CTL becomes inadequate for capturing these situations. We bring out an existing logic, called min-max CTL, and show how it can effectively be used for the planning purpose. We give a logical framework for expressing the overall planning goals. We propose a sound and complete planning procedure that incorporates a model checking technology. Doing so, we can answer such planning queries as plan existence at the onset besides producing an optimal plan (if any) in polynomial time.
BDD-versus SAT-based bounded model checking for the existential fragment of linear temporal logic with knowledge: algorithms and their performance