Miller, David P.2013-06-192013-06-191987http://hdl.handle.net/10919/19986Planning is done at both the strategic and tactical levels. This paper classifies some previous planning techniques into these different levels, and details some of their problems. A planning technique known as heuristic task scheduling is then presented along with a planner architecture that integrates task-scheduling with more traditional techniques to form a system that bridges the strategic/tactical deviation.application/pdfenIn CopyrightTechnical reportTR-87-01http://eprints.cs.vt.edu/archive/00000049/01/TR-87-01.pdf