Contingent plan structures for spacecraft

Most current AI planners build partially ordered plan structures which delay decisions on action ordering. Such structures cannot easily represent contingent actions. A representation which can is presented. The representation has some other useful features: it provides a good account of the causal structure of a plan, can be used to describe disjunctive actions, and it offers a planner the opportunity of even less commitment than the classical partial order on actions. The use of this representation is demonstrated in an on-board spacecraft activity sequencing problem. Contingent plan execution in a spacecraft context highlights the requirements for a fully disjunctive representation, since communication delays often prohibit extensive ground-based accounting for remotely sensed information and replanning on execution failure.