Companies need to adapt their processes quickly in order to react to changing customer demands or new regulations, for example. Process models are an appropriate means to support process setup but currently the (re)design of process models is a time-consuming manual task. Semantic Business Process Management, in combination with planning approaches, can alleviate this drawback. This means that the workload of (manual) process modeling could be reduced by constructing models in an automated way. Since existing, traditional planning algorithms show drawbacks for the application in Semantic Business Process Management, we introduce a novel approach that is suitable especially for the Semantic-based Planning of process models. In this chapter, we focus on the semantic reasoning, which is necessary in order to construct control structures, such as decision nodes, which are vital elements of process models. We illustrate our approach by a running example taken from the financial services domain. Moreover, we demonstrate its applicability by a prototype and provide some insights into the evaluation of our approach.