Execution monitoring and recovery planning with time

Focusing on the J.F. Allen and J.A. Koomen (1983) temporal planning scheme, the authors characterize the possible locations for failure during plan execution. By observing the interval collapse criterion during plan generation, the planner is able to integrate the planning of goal-directed actions and execution verification actions. This allows the planner to schedule sensor usage and reason about sensing and data processing delays. The authors also present a simple and robust recovery planning scheme which inserts corrective steps into the original plan. The authors generate purely inserted recovery plans efficiently, without destroying the original plan and without unnecessary temporal inferencing