RMPL Model-based Program Titan Model-based Executive Control Program Executes concurrently Preempts Generates target goal states Queries(hidden)states conditioned on state estimates Asserts(hidden) state System Model State estimates State goals 数O Tracks Tracks least e Valve plant states cost goal states open小sk open 0.01 Stuck Closed Observations Commands ose inflow outflow PlantControl Sequencer Deductive Controller Mode Estimation Mode Reconfiguration RMPL Model-based Program Titan Model-based Executive System Model Observations Commands Control Program Plant State estimates State goals Generates target goal states conditioned on state estimates Tracks likely plant states Tracks least cost goal states z Executes concurrently z Preempts z Queries (hidden) states z Asserts (hidden) state Closed Valve Open Stuck open Stuck closed Open Close 0. 01 0. 01 0.01 0.01 inflow = outflow = 0