A Probability-Aware Planning Architecture to Support Variable Autonomy

J. P. Gunderson and W. N. Martin

This paper proposes an architecture for autonomous systems that must be deployed in complex domains. The architecture is based on a probability -- aware planning and execution system, which allows the system to reason about the uncertainties in the domain, re-evaluate plans during execution and replan as needed, and facilitates a non-hierarchical form of variable autonomy which allows functions from high-level, abstract planning, to low-level action selection to be passed to external controllers during plan execution.


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