An Architecture for Flexibly Interleaving Planning and Execution

In this paper, we present a theory that aims to reproduce behavioral abilities that humans use to generate and execute their plans. We begin by highlighting the phenomena we are interested in, and then present several theoretical assumptions that account for them. Next, we introduce FPE, a five-stage system that supports strategies for flexible execution, including open-loop and closedloop control. We then turn to the extensions we have made both to this system and to FPS, a flexible problem solver, in order to reproduce a range of interleaving strategies. We report runs with the architecture that support our assumptions for its coverage and flexibility. We also analyze how these different techniques perform in response to variations in domain characteristics. In closing, we discuss related work in these areas and consider avenues for future research.

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