Plan Monitoring
In the real world, actions do not always have the desired effects.
In addition, there are other actors (including nature) that may cause
unexpected effects. Plan monitoring is needed to make sure that
a plan can be carried out. The representation of a plan must include:
- Preconditions of an action. The robot should check whether these
are in fact true before initiating the action.
- Expected effects of an action. The robot should check whether these
are in fact true after the action.
If things go wrong, either local repair of the plan or complete replanning
may be necessary.
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