Optimization of ground traffic is a major issue of air traffic management: optimal ground circulation could decrease flight delays and consequently decrease costs and increase passenger wellness. This paper proposes a planning algorithm for ground traffic based on contract reservation. This algorithm is iterative: it plans aircraft itinerary one after the other. A first version is described using the classical A* algorithm. Then the model is extended to deal with time and speed uncertainty to ensure the feasibility of the planned trajectories while avoiding conflicts between aircrafts. Its efficiency is evaluated on Toulouse-Blagnac airport, regarding quality of the solution and computation times.