I used Allen’s temporal interval calculus formalism for building a custom thing for my postdoc research back in the day. It’s more expressive than kanban though. More Gantt chart level.
There was a fair amount of work within/beyond the general STRIPS formalism (which came a decade after after GPS, out of SRI ~1971) into the 90s, and a model called HTN that goes beyond. But all hit complexity wall. Scheduling is even worse. But domain-specific heuristics do well.
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Blending AI/OR/controls for “multi agent systems” was just starting to be all the rage when I got done. I was about 2-3 years ahead of the curve. Turned out not to be as promising a direction as people thought. Too hard.