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While current manufacturing systems are built to avoid uncertainty, the increase of setup reconfiguration frequency and ever higher numbers of variants produced on the same systems motivate the exploration of new approaches to manufacturing and manufacturing control. In this paper we discuss the application of plan based controllers and transformational planning in manufacturing. Autonomous control techniques are used to create flexible, robust and adaptive behaviour in the artificialdoi:10.1109/etfa.2008.4638379 dblp:conf/etfa/RuhrPB08 fatcat:rwewotiubjdpledhluojathqgm