Task planning and scheduling: Toward real-time expert system autonomous control

Research under this grant successfully developed and tested the Interruptable Control System (ICE). The best description of ICE is in the M.S. thesis of Jim Vezina, who was the primary designer and implementer of ICE. Vezina's thesis is included as the bulk of this report. To test the general usefulness and maintainability of the ICE System, the examples of the ICE system in action given in Vezina's thesis were extended. The extensions consisted of two components: debugging and rewriting the simulation of passive and active agents, both controlled and uncontrolled, and benchmarking more extensively the HES expert system concerned with monitoring sensors. The expert system was chosen because it demonstrates the ability of CLIPS.