Dynamic Execution of Temporally and Spatially Flexible Reactive Programs

Robert T. Effinger, Brian Charles Williams, Andreas G. Hofmann

Abstract:

Dynamic execution is a flexible plan execution technique in which a plan executive schedules and executes tasks dynamically at runtime in response to disturbances in order to satisfy plan constraints. In this paper, we extend dynamic execution to temporally and spatially flexible plans which, 1) execute tasks conditionally based on runtime state, and 2) support error recovery for anticipated runtime constraint violations. To accomplish these goals, we broaden our focus from dynamic execution of flexible plans to dynamic execution of flexible reactive programs.

First, we introduce the Reactive Model-based Programming Language (RMPL) which, in addition to modeling temporal and spatial flexibility, includes three reactive programming language constructs: conditional execution, iteration, and exception handling. Then, we develop a probabilistic particle-sampling based dynamic execution algorithm which reasons efficiently over future program states to schedule tasks dynamically at runtime in order to satisfy program constraints. In addition, the algorithm monitors its own progress and notifies the executive if at any time the likelihood of successful program execution drops below a specified probability bound, δ.