Continuous Planning and Execution with Timelines

Planning systems need to be endowed with some additional features to cope effectively with execution: e.g., the ability to keep the plan database updated with respect to the actual feedbacks provided by the controlled system, to mention but one. In this paper, we identify a set of noteworthy planning and execution open issues relatively to the timeline-based planning approach. We address those issues presenting a domain independent deliberative system, implemented on top of the APSITRF, the APSI Timeline-based Representation Framework, extended with timeline dispatching and executionsupervision capabilities so as to allow continuous planning and closed-loop re-planning activities. Some ongoing research directions are also briefly introduced.