CIRCA: A Cooperative Intelligent Real-Time Control Architecture

Most research into applying AI techniques to real-time control problems has limited the power of AI methods or embedded \reactivity " in an AI system. We present an alternative, cooperative architecture that uses separate AI and real-time subsystems to address the problems for which each is designed; a structured interface allows the subsystems to communicate without compromising their respective performance goals. By reasoning about its own bounded reactivity, CIRCA can guarantee that it will meet hard deadlines while still using unpredictable AI methods. With its abilities to guarantee or trade o the timeliness, precision, condence, and completeness of its output, CIRCA provides more exible performance than previous systems