Taskability of ICARUS
ICARUS can readily switch from one task to another so long as priorities of
incoming tasks override those of current tasks. Tasks of varying priority can be presented via
explicit commands described in terms of reference states and actions which are
already known. ICARUS then retrieves the goal state from memory and begins
planning.
ICARUS also has internal drives that match against key
situations (such as low battery, etc.). These drives can override current
tasks if their priority is high enough, and control will pass back to the
previous task once the drive-task is complete.
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