Complications Observation-1 angle between targets priority → turn duration time window instruments callbration targ Observation -2 target2 Image courtesy of JPL Observation-3 Observation -4 consumables fuel obj power maximize science return data storage cryogen Based on slides by Dave Smith, NASA Ames Limitations of Classical Planning with Atomic Actions(aka STRIPS) Instantaneous actions No temporal constraints No concurrent actions No continuous quantities Based on slides by Dave Smith, NASA AmesBased on slides by Dave Smith, NASA Ames Complications Observation-1 priority time window target instruments duration Observation-2 Observation-3 Observation-4 … calibration target1 target2 … consumables: fuel power data storage cryogen angle between targets Ÿ turn duration Objective: maximize science return linked Based on slides by Dave Smith, NASA Ames Limitations of Classical Planning with Atomic Actions (aka STRIPS) Instantaneous actions No temporal constraints No concurrent actions No continuous quantities Image courtesy of JPL