arg max Pt(m arg min rT*(m S t. M(m)o(m)is satisfiable S.t. M(m)entails g(m) S.t. M(m)is satisfiable State estimates State goals Optimal cSP arg min f(x) Mode Mode Estimation: Reconfiguration S.t. C(x)is satisfiable Tracks likely Tracks least-cost D(x)is unsatisfiable States state goals Commands ons Valve fails stuck closed Fire backup engine Q least cost reachable Current Belief State First Action goal stateDeductive Controller Commands Observations Plant State estimates State goals Mode Estimation: Tracks likely States Mode Reconfiguration: Tracks least-cost state goals Fire backup engine Valve fails stuck closed S T X0 X1 XN-1 XN S T X0 X1 XN-1 XN least cost reachable Current Belief State First Action goal state Optimal CSP: arg min f(x) s.t. C(x) is satisfiable D(x) is unsatisfiable arg max P T(m’) s.t. M(m’) ^ O(m’) is satisfiable arg min RT*(m’) s.t. M(m’) entails G(m’) s.t. M(m’) is satisfiable