| Abstract
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An effective real-time planner must adapt … An effective real-time planner must adapt to changes in the world, in itsgoals, and in the available time. In addition, the planner should adapt tothese changes within the given time constraints. Because of limitedresources, the planner may not be able to construct complete, executableplans. In such cases, the planner should be able to use partially-specifiedplans. We have developed an approach to real-time planning and replanningthat uses multiple levels of abstraction. Planning at each level is viewed assearch. Steps in an abstract plan are refined to provide goals for the lower-level searches. The plans may be incomplete in either dimension: the searchwithin any given level may not reach the goal, and the plan may not be refinedcompletely to the lowest level of abstraction. These ideas are beingimplemented in the Guardian system for intensive-care monitoring. dian system for intensive-care monitoring.
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