The temporal task planner and reasoner is the heart of the basic agent. The reflective processes supply goals with time constraints on their satisfaction and preservation. The planner performs forward and backward chaining to create a dynamic plan which will satisfy the goals and constraints. Best-first search provides a universal weak method, but the generic memory usually contains applicable control rules (in addition to operator information). This meta-knowledge aids in constraining the search so that plan generation might complete in 10 seconds, though it could still require several minutes.