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A Unified Approach to Model-Based Planning and ExecutionWriting autonomous software is complex, requiring the coordination of functionally and technologically diverse software modules. System and mission engineers must rely on specialists familiar with the different software modules to translate requirements into application software. Also, each module often encodes the same requirement in different forms. The results are high costs and reduced reliability due to the difficulty of tracking discrepancies in these encodings. In this paper we describe a unified approach to planning and execution that we believe provides a unified representational and computational framework for an autonomous agent. We identify the four main components whose interplay provides the basis for the agent's autonomous behavior: the domain model, the plan database, the plan running module, and the planner modules. This representational and problem solving approach can be applied at all levels of the architecture of a complex agent, such as Remote Agent. In the rest of the paper we briefly describe the Remote Agent architecture. The new agent architecture proposed here aims at achieving the full Remote Agent functionality. We then give the fundamental ideas behind the new agent architecture and point out some implication of the structure of the architecture, mainly in the area of reactivity and interaction between reactive and deliberative decision making. We conclude with related work and current status.
Document ID
Acquisition Source
Ames Research Center
Document Type
Preprint (Draft being sent to journal)
Muscettola, Nicola
(NASA Ames Research Center Moffett Field, CA United States)
Dorais, Gregory A.
(Caelum Research Corp. United States)
Fry, Chuck
(Caelum Research Corp. United States)
Levinson, Richard
(RECOM Technologies, Inc. United States)
Plaunt, Christian
(Caelum Research Corp. United States)
Norvig, Peter
Date Acquired
September 7, 2013
Publication Date
January 1, 2000
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: Intelligent Agent Systems
Location: Venice
Country: Italy
Start Date: July 1, 2000
Distribution Limits
Work of the US Gov. Public Use Permitted.
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