RALPH: Reactive

Description

• RALPH relies primarily upon its condition-action execution architecture to provide its reactive capability. The condition-action architecture provides decisions quickly based on precompiled rules, allowing RALPH to react without extensive processing time.
• Another slower mechanism for reacting to changes in the environment is provided in the Executor/Monitor sub-architecture. This module provides monitors which evaluate the utility of replanning based on new environmental information. When the utility of replanning exceeds the value of acting then replanning is initiated.