- ....
^{1}
- Functions such as
are used for referential convenience throughout this paper.
Here, and are the same, and is read as ``the
preconditions of .''
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- ... conflict.
^{2}
- Using universal quantification
[WeldWeld1994] a single plan could have a
productionManager (transport1, ) condition
that would exclude concurrent access to the transport. We could have also simply specified
transport1 as a non-consumable resource with maximum capacity
of one.
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- ...
resource
^{3}
- It is important not to confuse power with battery energy. A power source (e.g. battery, solar panels) makes a fixed amount of power in Watts available at any point in time. A battery's energy (in Watt-hours) is reduced by the integral of the total use of this power over time.
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- ... subinterval
^{4}
- For summary
resource usages of the last interval intersecting the child task, we
replace with in the .
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- ...
plans.
^{5}
- In fact, it is NP-complete [ClementClement2002].
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- ....
^{6}
- This is why
Georgeff chose to cluster multiple operators into ``critical regions''
and synchronize the (fewer) regions since there would be many fewer
interleavings to check georgeff:83. By exploiting the
hierarchical structure of plans, we use the ``clusters'' predefined in
the hierarchy to this kind of advantage without needing to cluster
from the bottom up.
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- ... hierarchy.
^{7}
- The
analysis also applies to state constraints, but we restrict the
discussion to resource usage constraints for simplicity.
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- ... problems.
^{8}
- For
other experiments, we used a decomposition rate of 20% since it seemed to work well.
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