In this task, you are given the abstract of a research paper. Your task is to generate a summary of this abstract. Your summary should not be very short, but it's better if it's not more than 30 words.
Q: Heuristic search research often deals with finding algorithms for offline planning which aim to minimize the number of expanded nodes or planning time. In online planning, algorithms for real-time search or deadline-aware search have been considered before. However, in this paper, we are interested in the problem of {\em situated temporal planning} in which an agent's plan can depend on exogenous events in the external world, and thus it becomes important to take the passage of time into account during the planning process.
Previous work on situated temporal planning has proposed simple pruning strategies, as well as complex schemes for a simplified version of the associated metareasoning problem.
In this paper, we propose a simple metareasoning technique, called the crude greedy scheme, which can be applied in a situated temporal planner. Our empirical evaluation shows that the crude greedy scheme outperforms standard heuristic search based on cost-to-go estimates.
A:
Metareasoning in a Situated Temporal Planner