Specifically, a novel planning framework called RealPlan is developed in which resource
allocation is de-coupled from planning and is handled in a separate scheduling phase. The scheduling
problem with discrete resources is represented as a Constraint Satisfaction Problem (CSP) problem,
and the planner and scheduler interact either in a master-slave manner or in a peer-peer relationship.
In the former, the scheduler simply tries to assign resources to the abstract causal plan passed to
it by the planner and returns success.