---
title: "Executing Reactive, Model-based Programs through Graph-based Temporal Planning"
authors:
  - "Phil Kim"
  - "Brian C. Williams"
  - "Mark Abramson"
doi: ""
url: "https://ijcai.org/proceedings/2001/68"
pdf: "https://ijcai.org/proceedings/2001/0068.pdf"
venue: "Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence"
year: 2001
pages: "487-492"
track: ""
keywords:
---

# Executing Reactive, Model-based Programs through Graph-based Temporal Planning

Phil Kim, Brian C. Williams, Mark Abramson

*Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence*, pages 487-492.

## 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].