Abstract: A method and apparatus for determining actions for entities (4, 6) such that a goal is accomplished constraints are satisfied. The method comprises: determining an initial plan comprising actions that, if performed by the entities (4, 6), the goal would be accomplished; determining that a constraint would not be satisfied if the initial plan was implemented; and iteratively performing steps (i) to (v) until a final plan that accomplishes the goal and satisfies the is determined. Step (i) comprises identifying a constraint that is not satisfied in part of the current plan. Step (ii) comprises determining a remedy that, if implemented, satisfies the identified constraint. Step (iii) comprises updating the goal specification to include the remedy. Step (iv) comprises, using the updated goal specification, determining a further plan that accomplishes the goal and the remedy. Step (v) comprises determining whether or not the further plan satisfies each constraint.

Abstract: A method and apparatus for determining actions for entities (4, 6) such that a goal is accomplished constraints are satisfied. The method comprises: determining an initial plan comprising actions that, if performed by the entities (4, 6), the goal would be accomplished; determining that a constraint would not be satisfied if the initial plan was implemented; and iteratively performing steps (i) to (v) until a final plan that accomplishes the goal and satisfies the is determined. Step (i) comprises identifying a constraint that is not satisfied in part of the current plan. Step (ii) comprises determining a remedy that, if implemented, satisfies the identified constraint. Step (iii) comprises updating the goal specification to include the remedy. Step (iv) comprises, using the updated goal specification, determining a further plan that accomplishes the goal and the remedy. Step (v) comprises determining whether or not the further plan satisfies each constraint.

Abstract: Disclosed herein is an adaptive communications network and a method of adapting the network. The network comprises, at least a first and second base station operable to communicate with one another and with a plurality of mobile client platforms (MCPs), at least a first and second MCP, each provided with a communications module, a processing module, and a means of manoeuvring. The first MCP is provided with and operable to execute: a first initial route plan and a first initial communications plan for maintaining a communication link with either of the base stations. Further, the first MCP is operable to collect and transmit first situational awareness data. Similarly, the second MCP is provided with and operable to execute: a second initial route plan and a second initial communications plan for maintaining a communication link with at least one of the base stations, and is operable to collect and transmit second situational awareness data.