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This work presents a theory of planning called Case-Based Planning that suggests the use of a planner's dynamic memory of experience rather than a static base of rules. This view of planning from experience is supported by a learning system that incorporates new experiences into the planner's episodic memory. A process of plan repair is also presented in which plan failures are diagnosed through a casual analysis of the steps and states that led to their occurrence. Successful plans, failures, and past repairs are stored, with successes being accessed and modified to create new plans, failures being used to warn the planner of impending problems, and repair strategies being referenced to tell the planner how to deal with faulty plans at hand. By storing failures as well as successes, the planner is able to anticipate and avoid future plan failures. These ideas of memory, learning, and planning are implemented in the case-based planner CHEF, which creates new plans in the domain of Szechwan cooking.