Meander is the effector module. It is responsible for executing the plans generated by Daedalus. This module traverses the recursive plan structure, and upon reaching a primitive action, executes that action for the specified amount of time. Ideally, when Maeander is finished, the system will be in the desired state. However in the event of a complication, Argus, the perception module, has the ability to initiate replanning to compensate for a failed plan. This is a form of impasse-driven behavior.