Planning with Continuous Time: Problem

A car is on a road of length L.  If the accelerator is activated, the
car will speed up with constant acceleration A until the accelerator is
released or the car reaches its maximum speed MS, whichever comes first.
If the brake is activated, the car will slow down with acceleration -A
until the brake is released or the car stops, whichever comes first.
Otherwise, the speed of the car remains constant.

Give a formal representation of this domain, and write a program that
uses your representation to generate a plan satisfying the following
conditions:  at time 0, the car is at rest at one end of the road; at
time T, it should be at rest at the other end.

To test the program, take L=10, A=3, MS=4, T=4.