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CIRCA (the Cooperative Intelligent Real-time Control Architecture), shown in the adjoining figure, combines a traditional state-space AI planner with a real-time scheduler and plan execution module to build and schedule plans that execute in guaranteed (hard) real-time. First, to handle imprecise knowledge and incomplete plans, we incorporated a "safety net" that is able to detect and react to states that were not explicitly considered by the state-space planner. Next, we developed a negotiation strategy that allows stochastic planning and real-time resource allocation agents to iteratively make tradeoffs that ultimately minimize the likelihood of catastrophic system failure given a hard real-time environment and limited computational resources.



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