Planning for control

The problems that lie at the boundary of planning and control are studied from an artificial intelligence (AI) planning perspective. An attempt is made to extend the tools of traditional AI planning to handle more complex domains. The capabilities of current plan generation and execution systems are outlined. A sample planning and control problem is defined and then used to show where traditional AI planning fails. The failure of traditional planning is used to motivate a discussion on aspects of a new approach to the relationship between plan generation and plan execution