NASA NTRS · 20060043135
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Barrett, Anthony, Chung, Seung, Oursland, Alan. 2004-02-01. Team sequence execution for cluster operations. https://ntrs.nasa.gov/citations/20060043135
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This paper describes MEXEC, an implemented micro executive that compiles a device model into an interal structure. Not only does this structure facilitate computing the most likely current device mode from n sets of sensor measurements, but it also facilitates generating an n step reconfiguration plan that is most likely not to result in reaching a target mode - if such a plan exists.
While universal plans tell a system how to reach a goal regardless of what state it is in, such plans are typically too large to represent. Hybrid systems execute plans where each action is implemented to robustly produce effects if the world does not stray outside the action's control envelopes.