Implementing task-level mission management for intelligent autonomous vehicles

Mission Management forms an integral part of the command and control system for truly intelligent autonomous vehicles. It is responsible for overall coordination of robot subsystem activities, directing them to achieve some optimal set of goals. The Mission Management system for an autonomous land vehicle is implemented in C++ using clausal form logic and temporal reasoning. The representations used and the structure are described, emphasising the separation in software of the planning representations from their implementation in C++ classes.