....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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... resource3
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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... subinterval4
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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