Replanning Component
in RALPH-MEA
Replanning Component
in RALPH-MEA
The replanning architecture interfaces with an executor/monitor module that provides
information from the environment.
This feeds the Plan Impact Analysis module that monitors the
environment to determine if replanning has utility.
If no replanning is necessary, then the executor module executes the next
step in the plan.
Otherwise, if it is determined that replanning is called for, then the
Plan Modification Focusing module is notified, which searches the plan
for nodes that have a high probability of being improved by replanning.
This list of nodes is passed to the Plan Modification module,
which actually modifies the plan. Several iterations of focusing and
modification may be necessary to sufficiently narrow the replanning
area. Clearly, the presence of the replanning architecture gives RALPH the
ability to replan.
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Current Location: RALPH-MEA - Replanning Component