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The New Millennium Remote Agent NMRA will be the rst AI system to control an actual spacecraft. The spacecraft domain places a strong premium on autonomy and requires dynamic recoveries and robust concurrent execution, all in the presence of tight real-time deadlines, changing goals, scarce resource constraints, and a wide variety of possible failures. To a c hieve this level of execution robustness, we h a v e i n tegrated a procedural executive based on generic procedures with a deductivedoi:10.1145/280765.280863 dblp:conf/agents/PellGGKKMNPW98 fatcat:6tnhpvyszvfe5oud4eufpzcf3m