LPG [Gerevini, Saetti, SerinaGerevini et al.2003] is based on a local-search strategy applied to plan graphs [Blum FurstBlum Furst1995]. The approach has been generalised to accommodate both metric and temporal structure, making it a powerful and flexible planner. The use of local search allows the planner to be configured to trade-off time and plan quality. Indeed, the planner exhibits any time behaviour in the sense that plans can be reported as they are found and, if the search is allowed to run longer, better quality plans might be discovered.