APSI-based Deliberation in Goal Oriented Autonomous Controllers

This paper describes a timeline-based, domain independent deliberative layer, based on E SA APSI technology, deployed in the context of the Goal Oriented Autonomous Controller (G OAC) project. In particular the paper describes a new controller composed by (1) a planning module that exploits the timeline-based approach provided by the APSI - TRF and is able to model and solve planning problems, (2) a module that dispatches planned timelines, supervises their execution status and entails continuous planning and re-planning. An example will illustrate both modules at work.