Embedding Temporal Constraints for Coordinated Execution in Habitat Automation

Because of light-time delay and other considerations, increased autonomy will be needed. This will necessitate integration of tools in such areas as anomaly detection, diagnosis, planning, and execution.

In this paper we investigate an approach that integrates planning and execution by embedding planner-derived temporal constraints in an execution procedure. To avoid the need for propagation, we convert the temporal constraints to dispatchable form. We handle some uncertainty in the durations without it affecting the execution; larger variations may cause activities to be skipped.