Homer: Replanning
Description
- Certain conditions in the world are unrelated to the execution of a plan
and some goals of a plan are only inconsequential side effects. For instance,
if Homer's goal is to get the log, the location of the dock is not relavent to
the plan and the final location of Homer is not an important goal. But it is the
case that certain preconditions are protected because they are necessary to achieve a goal and certain
goals are protected as necessary results of an activity.
- When a protected goal or precondition is violated, Homer initiates
replanning to account for the change.
- In particular, whenever a fact is
terminated Homer will check if any
plans were involved in a protection relation with that fact. If so, any plan
nodes that were involved with the fact will be "demoted" back to goals and
replanning will occur.
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on architectures that can replan
Detail from Homer