RMPL Model-based Program Kirk Model-based Executive Control Program Selects consistent Executes concurrently threads of activity Preempts non-deterministic choice from redundant methods L,u timing A at I location Schedules and Dispatches Activities dynamically Environment Mode location estimates location goals 命 Tracks Finds least location cost paths Executive pre-plans activities Observations Commands pre-plans paths Plant +i9 dynamically schedules [Tsmardinos et al. I Outline MERS Model-based Programming Cooperative Vehicle missions Reactive Model-based Programming Language (rMPl) Temporal Plan Networks(TPN) Activity Planning(Kirk Unifying Activity and Path PlanningControl Sequencer Deductive Controller Environment Model Observations Commands Control Program RMPL Model-based Program Kirk Model-based Executive location estimates location goals Selects consistent threads of activity from redundant methods Mode Estimation Mode Reconfiguration Tracks location Finds least cost paths z Executes concurrently z Preempts z non-deterministic choice z A[l,u] timing z A at l location HOME T W O Enroute COLLECTION POINT RENDEZVOUS Diverge SCIENCE AREA 1’ SCIENCE AREA 3 SCIENCE AREA 3 Landing Site: ABC Landing Site: XYZ O N E SCIENCE AREA 1 SCIENCE AREA 1 Executive • pre-plans activities • pre-plans paths • dynamically schedules [Tsmardinos et al.] Plant Schedules and Dispatches Activities Dynamically Outline • Model-based Programming • Cooperative Vehicle Missions • Reactive Model-based Programming Language (RMPL) • Temporal Plan Networks (TPN) • Activity Planning (Kirk) • Unifying Activity and Path Planning