Ella M. Atkins
Autonomous operation in a dynamic environment requires accurate and timely response. A real-time control plan specifies actions plus a resource schedule to guarantee real-time constraints will be met during plan execution. The Cooperative Intelligent Realtime Control Architecture (CIRCA-II) employs an integrated planning-scheduling system to create and execute real-time control plans. In this paper, we describe CIRCA-II and its application to real-time domains.