3.5 Summary Resource Usage

In this section, we define a representation for capturing ranges of usage both local to the task interval and the depleted usage lasting after the end of the interval. Based on this we introduce a summarization algorithm that captures in these ranges the uncertainty represented by decomposition choices in $or$ plans and partial temporal orderings of $and$ plan subtasks. This representation allows a coordinator or planner to reason about the potential for conflicts for a set of tasks. We will discuss this reasoning later in Section 4.2. Although referred to as resources, these variables could be durations or additive costs or rewards.