Abstraction morphisms for task planning and execution

Deals with further efforts to develop abstraction mechanisms for systematic derivation of related models through the use of system morphisms. The authors describe an abstraction mechanism for mapping a task plan hierarchy into an isomorphic tree of model abstractions that supports hierarchical task execution. The task plan hierarchy is formulated in a model-based planning approach. They also show how the hierarchical execution structure can be constructed. Then the endomorphism concept employed in the modelling of autonomous systems is illustrated. The DEVS-Scheme knowledge-based, discrete event simulation environment is used to test the models and tools in an autonomous laboratory application