1.1 - Foundations---1.2 - Definitions1.2 Graph-Theoretic Definitions {#1.2}1.3 - Temporal1.3 Temporal Ontology {#1.3}1.4 - State Space1.4 Causal Graph {#1.4}1.5 - Task Space1.5 Task Space {#1.5}1.6 - Synthesis1.6 Formal Synthesis {#1.6}