Massachusetts Institute of Technology: Leslie Kaelbling and Tomás Lozano-Pérez's "Constraint Satisfactory Problems (CSP) and Games"
Read these slides. CSP stands for Constraint Satisfaction Problems, which include, for example, problems in task scheduling, planning robot actions, solving puzzles (for example, the classic N-Queens Problem and the Four Color Problem), and interpreting sensory data.
Click https://s3.amazonaws.com/saylordotorg-resources/wwwresources/site/wp-content/uploads/2011/11/CS405-3.1-MIT.pdf link to open resource.