Patent ID: 9567080
Date: 2017-02-14
CPC Classifications: B64C,G05D,G06Q

Claim:
1. A method of determining actions to be performed by one or more physical entities such that a predetermined goal is accomplished and such that one or more predetermined constraints are satisfied, the method comprising: using a specification of the goal, determining, by a plan determination module, an initial plan, the initial plan comprising one or more actions, each of the one or more actions being assigned to an entity, the one or more actions being such that, if each entity performed the one or more actions assigned to that entity, the goal would be accomplished; using a specification of the one or more constraints, determining, by a plan analysis module, that one or more of the constraints would not be satisfied if the initial plan were implemented; and iteratively performing steps (i) to (v) until, at step (v), it is determined that each of the one or more predetermined constraints is satisfied, thereby providing a final plan that specifies actions to be performed by the one or more entities such that the predetermined goal is accomplished and such that the one or more predetermined constraints are satisfied; wherein step (i) comprises identifying: a part of the current plan in which a constraint is not satisfied; and a constraint that is not satisfied in the identified part of the current plan; step (ii) comprises determining, by a remedy determination module, a remedial action or a remedial constraint, the remedial action or remedial constraint being such that, if the remedial action or remedial constraint were to be implemented, the identified constraint would be satisfied in the identified part of the current plan; step (iii) comprises updating the current specification of the goal so as to include a specification for the determined remedial action or remedial constraint, thereby providing an updated specification of the goal; step (iv) comprises, using the updated specification of the goal, determining, by the plan determination module, a further plan, the further plan comprising one or more further actions, each of the one or more further actions being assigned to an entity, the one or more further actions being such that, if each entity performed the one or more further actions assigned to that entity, the goal would be accomplished; and step (v) comprises, using the specification of the one or more constraints, determining, by the plan analysis module, whether or not each of the one or more constraints would be satisfied if the further plan were to be performed.