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Planning for real world problems with explicit temporal constraints is a challenging problem. Among several approaches, the use of flexible timelines in Planning and Scheduling has been shown to be successful in a number of concrete applications, such as, for instance, autonomous space systems. This paper builds on previous work and presents a revised and extended formal account of flexible timelines with the aim of providing a general semantics for related planning concepts such as domains,doi:10.1007/s00236-015-0252-z fatcat:bkt36hfinjbdvh7q44yb4hak4m