Nicola Muscettola, P. Pandurang Nayak, Barney Pell, and Brian C. Williams, ``Remote Agent: to boldly go where no AI system has gone before,'' Artificial Intelligence, vol. 103, pp. 49-76, 1998.

This system autonomously controls the Deep Space One spacecraft.

• Constraint-based temporal planning and scheduling

• robust multi-threaded execution

• model-based mode identification and reconfiguration

• predicate calculus representation

• self-diagnosis using state transition models with probabilities

• multiple levels of representation

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