Interleaving Temporal Planning and Execution: IXTET-EXEC

Abstract

Execution control of plans is a very active domain of research, but remains a major challenge when performed on board real autonomous systems such as robots or satellites. In such a context, where execution concurrency, resources contention and environment dynamic characterize the domain, the use of a temporal planner and a temporal execution control system is desirable. This paper presents IXTET-EXEC, a recent extension of the temporal planner IXTET which allows execution control, plan repair, and replanning when necessary. We present how IXTE T-EXEC is embedded in the LAAS architecture and how it interfaces with the other components. We detail the various internal algorithms used by the system, and we illustrate the current implementation with a short example. We conclude with a list of open issues and some ideas on how we plan to address them.