19.4 The Remote Agent Architecture 453
pictures of asteroids. When anomalies are detected (e.g., in the form of failures sig-
naled by spacecraft components or discrepancies between the state expected by RA
and the one monitored through spacecraft devices), RA is able to detect, interpret,
and respond to failures and anomalies. This can be done either at the execution level
or at the planning level, depending on the kind of failure or anomaly. In the case of
anomalies that can be repaired at the execution level, RA responds to failures in real
time, without any need to suspend the normal activities of the spacecraft. Failures
that need to be addressed by replanning require longer response times because RA
needs to generate new plans. During the replanning ...