We investigate search problems in continuous state and action spaces with no uncertainty. Actions have costs and can only be taken at discrete time steps (unlike the case with continuous control). Given an admissible heuristic function and a starting state, the objective is to find a minimum-cost plan that reaches a goal state. As the continuous domain does not allow the tight optimality result...

O Plan is a command planning and control architecture which has an open modular structure intended to allow experimentation on or replacement of various components The research is seeking to isolate functionality that may be generally required in a number of applications and across a number of di erent planning scheduling and control systems The aim of this paper is to describe the Constraint A...

Reasoning about plans and actions is fundamental to intelligent control of real-world systems such as AUVs. These plans can come from a library of existing plans or from creating a new plan if no appropriate plan exists for the situation. The Orca project [Turner, 1994] is an ongoing effort to create an intelligent system for mission-level control of autonomous underwater vehicles. Orca’s prima...