The Remote Agent Executive Capabilities to Support Integrated Robotic Agents

The Remote Agent RA integrates a broad spectrum of robotic activities including planning schedul ing execution monitoring failure detection diagnosis and recovery The RA Executive EXEC can be viewed as the core of the agent EXEC enables software developers to think about the robot at a higher level it also supports the reuse of knowledge and code across multiple robot applications EXEC s capabilities include a high level procedural action de nition language services for resource management and con guration management support for executing exible closed loop plans and command sequences support for replanning and a framework for specifying fault responses including safe modes and responses to plan failures We believe that these capabilities are required for most autonomous agents and that executives and execution capabilities will become more essential as we attempt to develop autonomous agents of increasing capability Moreover we deem modularity variable autonomy robustness and support for tools and testing to be general architectural properties necessary for design deployment and operation of executives within a complex mission To this end we are remodularizing the executive by providing each capability as a separate component so that the individual capabilities can be standardized and shared across di erent agent architectures