Anytime replanning using locality in agent architectures

Anytime planners seek to allow the system to exchange execution time for solution quality. We propose a new anytime planner which will devise new plans to accommodate plan failures. The first new plans to be considered will be relatively local to the plan that failed. Further new plans will be less and less local. We intend the concept of locality to relate the search space to be explored for a new plan to the degree to which a new plan disrupts the not-as-yet executed part of the running plan.