Automated planning technolgy plays a role today in applications ranging from controlling space vehicles and robots to playing the game of bridge. The authors who have over 30 years experience in planning research and development, wrote the book as a text for researchers, professionals, and graduate students.  It provides a thorough understanding of AI planning theory and practice.  It presents cases studies of applications in engineering, space, robotics, process control, CAD/CAM, emergency operations and games.