Description
Represent an action plan in the schema. Basically, a Plan consists of a sequence of Actions (with specific parameters). Then, when using PDDL for the task decision layer, store the whole action plan in the KB, instead of just the current Action. This allows for a more efficient resource management. For example, by not deactivating components used by an actionA that are needed for a following actionB.
Another example of more efficient resource management:
From SHAGE paper: "Thus, all components for the next action are preloaded if resources were available. In this way, we can
improve the performance of task execution by minimizing the latency of loading components for
the future actions."
From SHAGE paper:
"A reference count is used to decide when the components are unloaded. The reference count of a
component means how many times a component should be executed in a consolidated architecture.
When components are referenced, the reference count of components increased. Keeping only the
essential components in the memory makes the robot reserve some rooms to extend its capability
by adding more components when they are necessary."