A method and system operable to perform the method is provided for control of an autonomous or unmanned system. The method includes obtaining a mission model, wherein the mission model comprises a goal and one or more assets that are used to accomplish the goal; producing, by a first hardware processor, a plan goal graph (PGG) model based on the mission model; transforming, by a second hardware processor, the PGG model into a Bayesian Network (BN) model; computing a feasibility to execute a plan and an achievability of accomplishing the goal; and providing control instructions to the one or more assets to be used to accomplish the goal.
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