RALPH: Replanning Architecture

Description

• 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 fo 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, and may pass control back and forth with the Focusing module if further narrowing of the replanning area is necessary
• Clearly, the presence of the replanning architecture gives RALPH the ability to replan