Ixtet-exec : planning, plan repair and execution control with time and resource management

Dans le but d'augmenter l'autonomie decisionnelle de systemes spatiaux (e. G. Rovers), nous proposons un cadre pour integrer la planification,l'execution et l'adaptation reactive d'un plan, en exploitant la flexibilite des plans produits par un planificateur non lineaire base sur des CSPs. Ce type d'application impose de respecter des contraintes temporelles et de gerer des ressources limitees. Le systeme IxTeT-eXeC se compose d'un executif temporel et du planificateur IxTeT, modifie pour ameliorer la flexibilite de la representation des ressources et prendre en compte le contexte d'execution et la duree de la recherche lors de la planification. L'executif controle les deux mecanismes d'adaptation du plan (en cas d'echecs ou de nouveaux buts): (1) une reparation en parallele de l'execution de ses parties valides, (2) une replanification complete. IxTeT-eXeC a ete integre dans l'architecture LAAS pour controler un robot mobile avec une mission d'exploration.

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