Plan Maintenance for Continuous Execution Management: Planning, Plan Repair, Execution Monitoring

摘要

Research in the planning community has focused on improving plan generators to produce better, more efficient plans faster. However, the environments in which these plans are usually executed are highly dynamic and even the best plans cannot account for unforeseen circumstances. Additionally, the decision-making processes are still handled by human operators, rendering fully automated approaches to continuous execution management unsuitable. In this paper, we highlight the need for robust continuous execution management capable of bringing together plan generators and monitors to improve dynamic plan maintenance and repair. To that end, we present the Plan Execution Understanding Service (PLEXUS), a continuous plan execution and maintenance system that addresses the challenges outlined above, discuss its role, and contribution on the Joint Air/Ground Operations Unified Adaptive Replanning (JAGUAR) program.