Ella M. Atkins
The Cooperative Intelligent Real-time Control Architecture employs an integrated planningscheduling system to create plans that guarantee system safety in complex real-time environments. The planner uses state transitions with discrete-valued features to build and schedule plans that maintain system safety while achieving mission goals. The product, a real-time control plan, specifies actions plus a resource schedule to guarantee that real-time constraints will be met during plan execution. In this paper, we overview the production and use of a real-time control plan, then we discuss challenges associated with modeling complex dynamic environments in any state-space planning system.