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
Detail from RALPH