RMPL Model-based program Titan Model-based Executive Control Program Control Sequencer Executes concurrently Generates goal states ts conditioned on state estimates Asserts and queries states Chooses based on reward State estimates System Model State goals -ExO Mode Estimation: Reconfiguration Tracks likely Tracks least-cost States state goals Commands ons Valve fails Plan stuck closed Fire backup engine Q least cost reachable Current Belief State First Action goal stateControl Sequencer Deductive Controller System Model Commands Observations Control Program Plant RMPL Model-based Program Titan Model-based Executive State estimates State goals Control Sequencer: Generates goal states conditioned on state estimates Mode Estimation: Tracks likely States Mode Reconfiguration: Tracks least-cost state goals z Executes concurrently z Preempts z Asserts and queries states z Chooses based on reward Closed Valve Open Stuck open Stuck closed Open Close 0. 01 0. 01 0.01 0.01 inflow = outflow = 0 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