Simple Mode Reconfiguration Find allowed states that entail goal Current state Goal nominal thrust c Enumerate by increasing immediate cost 2 Conflicts Focus MR Goal: Achieve Thrust A conflict, C, is an assignment to a subset of the control variables that entails the negation of the goal21 Simple Mode Reconfiguration Current state Enumerate by increasing immediate cost. Goal “nominal thrust” Find allowed states that entail goal. 22 Conflicts Focus MR Goal: Achieve Thrust A conflict, C, is an assignment to a subset of the control variables that entails the negation of the goal