{"type":"ScholarlyArticle","title":"Executing Reactive, Model-based Programs through Graph-based Temporal Planning","authors":[{"name":"Phil Kim","slug":"phil-kim","given":"Phil","family":"Kim","affiliation":""},{"name":"Brian C. Williams","slug":"brian-c-williams","given":"Brian C.","family":"Williams","affiliation":""},{"name":"Mark Abramson","slug":"mark-abramson","given":"Mark","family":"Abramson","affiliation":""}],"abstract":"In the future, webs of unmanned air and space vehicles will act together to robustly perform elaborate missions in uncertain environments. We coordinate these systems by introducing a reactive model-based programming language (RMPL) that combines within a single unified representation the flexibility of embedded programming and reactive execution languages, and the deliberative reasoning power of temporal planners. The KIRK planning system takes as input a problem expressed as a RMPL program, and compiles it into a temporal plan network (TPN), similar to those used by temporal planners, but extended for symbolic constraints and decisions. This intermediate representation clarifies the relation between temporal planning and causal-link planning, and permits a single task model to be used for planning and execution. Such a unified model has been described as a holy grail for autonomous agents by the designers of the Remote Agent[Muscettola et al., 1998b].","doi":null,"url":"https://ijcai.org/proceedings/2001/68","pdf":"https://ijcai.org/proceedings/2001/0068.pdf","markdown":"https://ijcai.org/proceedings/2001/68.md","bibtex":"https://ijcai.org/proceedings/2001/bibtex/68","volume":{"slug":"2001","title":"Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2001","url":"https://ijcai.org/proceedings/2001/","year":2001,"location":"Seattle, Washington, USA","dates":"","editors":"","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":68,"pages":{"first":487,"last":492},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}