Icarus Style of Control
In general, flow of control in Icarus moves through the three major
modules, Argus,
Daedalus, and
Maeander, in order. Features of the environment (Perceived by Argus)
and internal goals are sent to Daedalus for
plan generaration. Once the
first step of the plan is known with adequate certainty, it is sent to
Maeander for execution. As each subsequent step becomes available,
Maeander executes it, until each step of the plan has been executed.
Maeander monitors execution of the plan, and upon failure notifies
Daedalus to replan.
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