A diagram of this architecture ERE is an architecture for the integration of planning, scheduling, and control. The objective for this system is to create a set of software tools for designing and deploying integrated planning and scheduling systems that are able to effectively control their environments. ERE works toward integrating planning and scheduling and tackling plan execution as a problem of control, mediated by the interaction of three architectural modules. The motivation is that scheduling decisions can give rise to further planning activity.
Plan execution is viewed as a closed-loop process, with perception of its own action immediately affecting the system's next action. The architecture is designed to support both multiple planning methods as well as multiple learning methods, with the hope of achieving more capability than by using only a single method in either arena.
The system's behavior is dependent upon various knowledge that can (and must, in some cases) be provided by the user.