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Strategic planning for autonomous systems over long horizons

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Figure

Figure 3: A strategic plan for the abstract level. The com-plete mission action corresponds to the tactical plan of atask.
Figure 5: The simulation (left) and current plan (right) of a tactical mission for an inspection task.
Table 1: Comparing BUTD and Top-down performance over long missions. The number of tasks completed in strategic missionsof varying size.

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