In this paper a class of planning problems is dealt with where resources have a central role: they can allow for many alternative courses of actions, but, at the same time, they have to be used economically. Such problems are typical in manufacturing domains, e.g., in manufacturing process planning or inspection planning. The problem of constrained plan optimization is exposed in such resource-rich domains, and an appropriate planning method is outlined. The method that performs task grouping is supported by case-based reasoning. Finally, it is shown how the approach was applied in robotic in-spection planning.