Plan Extractor Plan Translator Run-time Information PLEXIL Plan High-level Plan Policy File PRISM Model Planning Monitoring and and Analysis Excavation Locations Position (X, Y) Science Value Excavation Probability xloc1 (1.93, 0.2) 0.37 0.85 xloc2 (1.51, -0.4) 0.41 0.83 xloc3 (1.92, -0.3) 0.42 0.83 … Dump Locations Position (X,Y) dloc1 (1.46, -0.9) dloc2 (1.49, 0.6) [select_xloc3, select_dloc2] Excavation: { Boolean planSuccess; LibraryCall GuardedMove ( X = 1.92, Y = -0.3, Z = 0.05, DirX = 0, DirY = 0, DirZ = 1, SearchDistance = 0.25); planSuccess=Lookup(GroundFound); if (planSuccess) { LibraryCall Grind X = 1.92, Y = -0.3, Depth = 0.05, Length = 0.2, Parallel = true, GroundPos = Lookup(GroundPosition)); planSuccess=Lookup(DiggingSuccess(0.83)); if (planSuccess) { LibraryCall DigCircular ( X = 1.92, Y = -0.3, Depth = 0.05, GroundPos = Lookup(GroundPosition), Parallel = true); LibraryCall Deliver ( X = 1.49, Y = 0.6, Z = 0.5); } endif } endif } Execution