TY - JOUR
T1 - Planning and Resource Allocation for Hard Real-time, Fault-Tolerant Plan Execution
AU - Atkins, Ella M.
AU - Abdelzaher, Tarek F.
AU - Shin, Kang G.
AU - Durfee, Edmund H.
N1 - Funding Information:
This work was partially supported by the NSF under Grant IRI-9209031 and by the ONR under Grant N00014-94-1-0229.
PY - 2001
Y1 - 2001
N2 - We describe the interface between a real-time resource allocation system with an AI planner in order to create fault-tolerant plans that are guaranteed to execute in hard real-time. The planner specifies the task set and all execution deadlines required to ensure system safety, then the resource utilization. A new interface module combines information from planning and resource allocation to enforce development of plans feasible for execution during a variety of internal system faults. Plans that over-utilize any system resource trigger feedback to the planner, which then searches for an alternate plan. A valid plan for each specified fault, including the nominal no-fault situation, is stored in a plan cache for subsequent real-time execution. We situate this work in the context of CIRCA, the Cooperative Intelligent Real-time Control Architecture, which focuses on developing and scheduling plans that make hard real-time safety guarantees, and provide an example of an autonomous aircraft agent to illustrate how our planner-resource allocation interface improves CIRCA performance.
AB - We describe the interface between a real-time resource allocation system with an AI planner in order to create fault-tolerant plans that are guaranteed to execute in hard real-time. The planner specifies the task set and all execution deadlines required to ensure system safety, then the resource utilization. A new interface module combines information from planning and resource allocation to enforce development of plans feasible for execution during a variety of internal system faults. Plans that over-utilize any system resource trigger feedback to the planner, which then searches for an alternate plan. A valid plan for each specified fault, including the nominal no-fault situation, is stored in a plan cache for subsequent real-time execution. We situate this work in the context of CIRCA, the Cooperative Intelligent Real-time Control Architecture, which focuses on developing and scheduling plans that make hard real-time safety guarantees, and provide an example of an autonomous aircraft agent to illustrate how our planner-resource allocation interface improves CIRCA performance.
KW - AI architectures
KW - Fault-tolerance
KW - Planning
KW - Real-time scheduling
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U2 - 10.1023/A:1010066729351
DO - 10.1023/A:1010066729351
M3 - Article
AN - SCOPUS:0035587711
VL - 4
SP - 57
EP - 78
JO - Autonomous Agents and Multi-Agent Systems
JF - Autonomous Agents and Multi-Agent Systems
SN - 1387-2532
IS - 1-2
ER -