A Continuous Planning and Execution Framework

With the exception of plan repair, important topics related to the use of plans (robust execution, reactivity, monitoring, evaluation) have received significantly less consideration. In realistic domains, however, plan generation is only a small component of the overall package. In particular, plans must be updated in response to new information and requirements in a timely fashion to ensure that they remain viable and relevant. Plan execution involves more than blind adherence to previously generated plans. Rather, run-time decisions are made to adapt, initiate, or abandon plans and activities in response to current considerations within the operating environment.