How Burton Achieves Reactivity
Model compilation eliminates cotemporal interactions ??, pre-solving NP hard part.
- Compile transitions into a compact set of concurrent policies.
Exploit fact that hardware typically behaves like STRIPS ops.
- individual controllability & persistence
Exploit requirement: planner avoid damaging effect.
Exploit causal, loop-free structure of hardware topology.
Burton: Plans first action in average O(1) time.