Here is a planner to appear in AAAI that realizes Tempo (described in the temporal planning paper you read) and
shows that it is efficient (recall that VHPOP like planners could already solve RC problems--while
DEP planners couldn't. Tempo was supposed to be a way of combining reachability heuristics with non-DEP
search space. this planner--Crikey3--realizes Tempo by making several interesting improvements to
SAPA's relaxed plan graph heuristics).