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This article presents an executive layer mediates between the planner and behavior layer. Expands abstract goals into low-level commands, executes the commands, monitor their execution and handles exception.
There are several reasons why the execution of a plan may fail, whether internal (the execution of an action fails) or external (changes in the world, damaged or add objects, etc). If we go to temporals plans, the factors may be much larger and more delicate, such action runs faster or slower than expected.
Monitoring the Execution of Partial-Order Plans via Regression
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Este articulo, consiguen las condiciones en las que un POP continua siendo viable (ejecutable) por medio de la regression de los goal a través de la estructura de un POP.