Remote mission specialist: a study in real-time, adaptive planning

Abstract

A high-level planning architecture for robotic operations is presented. The remote mission specialist (RMS) integrates high-level directives with low-level primitives executable by a runtime controller for command of autonomous servicing activities. The planner has been designed to address such issues as adaptive plan generation, real-time performance, and operator intervention.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>