This paper presents the FAPE planning system and in particular covers : (1) its model that blinds time-oriented, generative and hierarchical planning into a single planning domain definition, (2) its search algorithm that ensures soundness and completeness, and (3) inference methods that build on delete-free reachability analysis and novel reasoning techniques on causal chains. FAPE is shown to be competitive with state of the art temporal planners regardless of its use of hierarchies. It is a very unusual planner in that it relies on least commitment and constraint reasoning techniques to prove unfeasible some branches of its search space only relying which results in a much more focused search.