This monograph on planning based on Artificial Intelligence methods may serve both as an advanced textbook and as a general reference book. AI planning is an active research and applications field concerned with action and plan representation, plan synthesis and reasoning, analysis of planning algorithms, plan execution and monitoring, and plan reuse and learning. The book provides a clear, thorough coverage of key areas of classical AI planning. Its main theme is to build more intelligence on a set of basic algorithms and representations for planning. It presents advanced techniques for plan generation using decomposition and plan merging and for analyzing and comparing planning algorithms. The book contains illustrations, examples, algorithms, analyses, tables, and extensive references.