This book presents a number of modern approaches to the area of automated planning. These approaches combine methods from classical planning such as the construction of graphs and the use of domain-independent heuristics with techniques from other areas of artificial intelligence. The book presents, in detail, a number of state-of-the-art planning systems that utilize constraint satisfaction techniques in order to deal with time and resources, machine learning in order to utilize experience drawn from past runs, methods from knowledge systems for more expressive representation of knowledge and ideas from other areas such as intelligent agents. Apart from the thorough analysis and implementation details, each chapter of the book also provides extensive background information about its subject and presents and comments similar approaches done in the past.