Managing Temporal Uncertainty Under Limited Communication: A Formal Model of Tight and Loose Team Coordination

ly, there are three fundamental problems related to executing plans with uncertainty, however, in practice they are all related. First there is a problem of determining if there exists a viable execution strategy (controllability verification). After verifying the controllability of a plan, there still remains the problem of actually generating an execution strategy. Generating an execution strategy boils down to compiling the temporal constraints (reformulation) into a form that a dispatcher can readily use. If this reformulation succeeds, the plan is said to be dispatchable. The last problem is to execute the plan using a dispatcher (dispatching). Verification, reformulation, and dispatching are all interrelated. Verification is done by reformulating the plan, meaning that if the reformulation succeeds, then the plan is controllable and