Temporal Numeric Planning with Patterns

We consider temporal numeric planning problems Pi expressed in PDDL2.1 level 3, and show how to produce SMT formulas (i) whose models correspond to valid plans of Pi, and (ii) that extend the recently proposed planning with patterns approach from the numeric to the temporal case. We prove the correctness and completeness of the approach and show that it performs very well on 10 domains with required concurrency.