If the problem is unsolvable at this stage, we know that resource scheduling is not going to make it solvable. Otherwise the resultant plan is given to the scheduler for resource allocation. An example of the plan generated for the shuffle problem, by disregarding interresource conflicts during planning, is shown in Fig. 15. The plan consists of 10 time steps (levels) with the number of resources left allocated at each level shown in the right column (marked “#Robots”). The abstract plan is seen as a task network in Fig. 16.