Inter-module Dependency Directed Backtracking

Explanation Generation

Explanation Translation

Generation of Alternative Plan

Scheduler’s Task

Interface’s Task

Planner’s Task

Generate compact explanation of the

Scheduler’s failure in allocating resources

Translate the explanation into the form

that make sense to the planner.

Use the translated explanation to

generate plan that avoid this failure.

Planner’s CSP:

Variables: “goals”

Values: “actions”

Scheduler’s CSP:

Variables: “Actions”

Values: “Resources”

Set of actions that

cannot be scheduled

Resource constraints

activated by the

selected

actons

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