This is a plan diagram type which lets you specify 

  - individual actions that make up the plan,
  - ordering links between actions,
  - effects that result from the successful execution of the action,
  - conditions which need to be satisfied before an action can be executed,
  - durations of actions,
  - time constraints for begin and completion of actions,
  - resources and their utilisation.

The specifications provided can be written out in a format
suitable for O-Plan2. The area where this has been developed is:
~jussi/Hardy/Planning
