|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.