부산대학교 도서관

Coming from applied research in the domain of Marine Safety & Security, the high-level design for a comprehensive decision making component, called Decision Engine, is presented. This Decision Engine provides an architectural model and algorithmic framework for the management of the decision making process in dynamic environments within the presence of uncertainty, including replanning, plan changing, plan auditing, and execution monitoring. At the heart of this is a hybrid Hierarchical Task Network planner, which is able to draw upon the capabilities of specialized sub-planners where appropriate.