Coordinating Agile Systems through the Model-based Execution of Temporal Plans

Book One

Volume

Proceedings of the AAAI Conference on Artificial Intelligence, 20

Agents / Multiagent Systems

Agile autonomous systems are emerging, such as unmanned aerial vehicles (UAVs), that must robustly perform tightly coordinated time-critical missions; for example, military surveillance or search-and-rescue scenarios. In the space domain, execution of temporally flexible plans has provided an enabler for achieving the desired coordination and robustness. We address the challenge of extending plan execution to under-actuated systems that are controlled indirectly through the setting of continuous state variables. Our solution is a novel model-based executive that takes as input a temporally flexible