Appropriate Commitment Reactive Planning

We propose a method for reactive mission planning in dynamic, real-world environments that allows for appropriate commitments to future actions and goals. We consider appropriate commitments to be those that are less likely to become invalidated, or that are important enough to justify the ris k. By augmenting a reactive mission planner to organize its actions around these commitments, we hope to create a planner that is able to react quickly to unanticipated events, easil y incorporate new goals, coordinate its actions with other agen ts, and perform missions more efficiently and effectively.