In this paper we present a novel planning approach, based on well-known techniques such as goal decomposition and heuristic planning, aimed at working in highly dynamic environments with time constraints. Our contribution is a domain-independent planner to incrementally generate plans under a deliberative framework for reactive domains. The planner follows the anytime principles, i.e a first solution plan can be quickly computed and the quality of the solution is improved as time is available. Moreover, the fast computation of the sequential actions allows the plan to start its execution before it is totally generated, thus giving rise to a highly reactive planning system.
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