PLAN2TIGA is a tool implementing the encoding of flexible plans into networks of timed game automata (TGA), according to the syntax accepted by UPPAAL TIGA, that can therefore be called on the files generated by PLAN2TIGA in order to check whether the corresponding plan is dynamically controllable and, if so, generate a strategy for robust plan execution.
Flexible plans are defined like in [1], and extended in order to treat
uncertainty.
Tokens are in fact annotated by a controllability tag: the
exact duration of a
controllable token can be decided by the controller (obviously
respecting the bounds on its end point and duration), while the end
time of uncontrollable tokens is under the control of the
environment.
An