How do we reconfigure a valve? Remote +Driver Terminal Valve Bus Computer Control Remote Driver Terminal Valve Device modes are changed through indirect commanding Communication paths are established by reconfiguring other devices The task of reconfiguring devices in the proper order generalizes state space planning to handle indirect effects To achieve reactivity all possible plans for all possible goal states should be pre-compiled (a generalization of universal plans To achieve compactness we decompose these universal plans according to a goal/ sub-goal hierarchy Massachusetts Institute of TechnologyArtificial Intelligence & Space Systems Laboratories Massachusetts Institute of Technology Remote Terminal Remote Terminal Driver Bus Control Computer Valve Driver Valve • Device modes are changed through indirect commanding. • Communication paths are established by reconfiguring other devices. • The task of reconfiguring devices in the proper order generalizes state￾space planning to handle indirect effects. • To achieve reactivity all possible plans for all possible goal states should be pre-compiled (a generalization of universal plans). • To achieve compactness we decompose these universal plans according to a goal/sub-goal hierarchy. How do we reconfigure a valve?