Failure occurs during plan execution Burton computes next action - step 3

Goal

Current

open

closed

open

closed

stuck

fail

fail

idle

idle

Goal

Current

on

off

on

off

reset

failure

dcmdin =

reset

idle

idle

off

Cmd

on -> reset failure

closed

1

2

dcmdin = reset

Goal:

Current:

dr

vlv

dr = on,

cmdin = open

dr = on ,

cmdin = close

dcmdin =

reset

dcmdin = on

dcmdin = off

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