How can I add Autoscheduling to Plans?

Thanks for sharing this doc.. after reading this in more detail, maybe autoscheduling is not what I need. Basically what I am trying to do is to replicate the Microsoft Project function where you can assign dependencies between tasks. Once you have assigned dates and then dependencies, then if for some reason a task is delayed, the tasks tied to it will also be pushed out. Is this what autoscheduler can do or is there some other option to accomplish this?