Planning in Interplanetary Space: Theory and Practice

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On May 17th 1999, NASA activated for the first time an AI-based planner/scheduler running on the flight processor of a spacecraft. This was part of the Remote Agent Experiment (RAX), a demonstration of closedloop planning and execution, and model-based state inference and failure recovery. This paper describes the RAX Planner/Scheduler (RAX-PS), both in terms of the underlying planning framework and in terms of the fielded planner.