Deliberation Scheduling for Planning in Real-Time

We are developing the Multi-Agent Self-Adaptive Cooperative Intelligent Real-Time Control Architecture (MASA-CIRCA) to address high-stakes, missioncritical, hazardous domains. (Musliner, Durfee, & Shin 1995; Musliner et al. 1999). MASA-CIRCA is a domain-independent architecture for intelligent, selfadaptive autonomous control systems that can be applied to hard real-time, mission-critical applications. MASA-CIRCA includes a Controller Synthesis Module (CSM) that can automatically synthesize reactive controllers for environments that include timed discrete dynamics. In order to best tailor its behavior to the current context, MASA-CIRCA will sequence through a number of different controllers, one for each phase of the mission (see Figure 1). This controller synthesis process can occur both offline, before the system begins operating in the environment, and online, during execution of phase controllers. Online controller synthesis is used to adapt to changing circumstances and to continually improve the quality of controllers for current and future mission phases. The