Filuta 
            is a sub-optimal domain-independent planning system that handles time 
            and resource constraints in addition to traditional causal relations 
            between actions.
          Filuta 
            was developed by Filip Dvořák in his Master Thesis under the 
            supervision of Roman Barták at Constraint 
            Satisfaction and Optimisation Research Group (Department of Theoretical 
            Computer Science and Mathematical Logic, Faculty of Mathematics and 
            Physics, Charles University in Prague).
          Please 
            use this reference when referencing the software:
            F. 
            Dvořák, R. Barták: AI Planning with Time and Resource Constraints 
            [PDF]
            In Proceedings of Znalosti 2010, pp. 72-83, 2010.