Deliberation Scheduling for Planning in Real-Time

David J. Musliner, Robert P. Goldman, and Kurt D. Krebsbach

We have integrated active deliberation scheduling into the CIRCA architecture for multi-agent real-time intelligent control. CIRCA is designed for mission-critical applications, and combines on-the-fly planning (controller synthesis) with real-time guaranteed plan execution. CIRCA uses self-reflective deliberation scheduling to control its own planning processes, attempting to focus its planner’s attention on the most important planning problems at each instant. We present results on the performance of several deliberation scheduling algorithms in an example scenario where CIRCA is controlling an aircraft flying a multi-phase mission and facing numerous complex planning problems. The example illustrates how different deliberation scheduling algorithms can dramatically affect mission performance.

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