Unifying planning and control using an OODA-based architecture

Planning and real-time control are closely related, but separate research fields. An architecture that unifies planning and control, together with related processes, is needed for autonomous systems, for military command and control (C2), for agile manufacturing, and for many other domains. This paper proposes an operational-view architecture that unifies planning and control based on Boyd's Observe-Orient-Decide-Act (OODA) process model [Boyd, 1996]. The shortcomings of OODA are identified by comparing it with other process models. OODA is then rationally reconstructed using use-cases and formalised using Structured Analysis & Design Technique (SADT). The next step is to develop the systems view in Unified Modeling Language (UML). The architecture will then be verified by implementing and testing a C2 system demonstrator.

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