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In this paper we introduce a technique for monitoring and repairing a plan dealing with continuous and consumable resources. The mechanism relies on the notion of numerical kernel . Concretely, anumerical kernel establishes the sufficient and necessary conditions for a plan to be valid in a specific state of the system. We employ the mechanism in a continual planning agent and we evaluate experimentally the approach for the Zenotraveldomain. Results show good cpu-time w.r.t. a traditional replanning from scratch.

Numerical Kernels for Monitoring and Repairing Plans Involving Continuous and Consumable Resources