3.5  Execution Monitoring and Replanning

3.5.1 Outline

• Bridging plans to execution: action models meet real sensors/actuators
• Monitoring preconditions/effects at runtime; detecting divergence
• Fast replanning and plan repair; when to fall back to reactive policies
• Hook to uncertainty: failures, delays, and partial observability in deployment
• Mini-case: drop a blocked-aisle event into the warehouse plan and repair