Mode reconfiguration Configuration Goal Goal Interpreter Goal state State Estimate Reactive Command (Current) Planner Model-based Programming of Intelligent Embedded Systems and Robotic EXplorers Williams et al., IEEE03 Reactive Planner for a mode/ -based Executive Williams Nayak, IJCAI 97 MERS Massachusetts Institute of TechnologyMERS Massachusetts Institute of Technology Model-based Embedded & Robotic Systems Group Mode Reconfiguration Model-based Programming of Intelligent Embedded Systems and Robotic Explorers [Williams et al., IEEE’03] Reactive Planner for a Model-based Executive [Williams & Nayak, IJCAI 97] Goal Interpreter Reactive Planner Configuration Goal Command Goal State State Estimate (Current) Reactive Planner Command Goal State State Estimate (Current)