Goal Reasoning in the CLIPS Executive for Integrated Planning and Execution

The close integration of planning and execution is a challenging problem. Key questions are how to organize and explicitly represent the program flow to enable reasoning about it, how to dynamically create goals from run-time information and decide on-line which to pursue, and how to unify representations used during planning and execution.In this work, we present an integrated system that uses a goal reasoning model which represents this flow and supports dynamic goal generation. With an explicit world model representation, it enables reasoning about the current state of the world, the progress of the execution flow, and what goals should be pursued – or postponed or abandoned. Our executive implements a specific goal lifecycle with compound goal types that combine sub-goals by conjunctions, disjunctions, concurrency, or that impose temporal constraints.Goals also provide a frame of reference for execution monitoring. The current system can utilize PDDL as the underlying modeling language with extensions to aid execution, and it contains well-defined extension points for domain-specific code. It has been used successfully in several scenarios.