19.5 The Planner Architecture 457
adapted from model-based diagnosis [431, 547] to predict the likely next state and
thus the possible failure. In model-based diagnosis, a combination of component
modes is a description of the current state of the spacecraft only if the set of models
associated with these modes is consistent with the observed sensor values. MI uses a
conflict-directed, best-first search to find the most likely combination of component
modes consistent with the observations.
The prediction of the likely next state has to be confirmed by MR reading the
sensors of the spacecraft, e.g., the switch sensor and the current sensor should be
consistent with the camera’s power status. If the expected observations are not
received, MI uses its model ...