Search algorithm for optimal execution of incident commander guidance in macro action planning

This paper presents a state space search algorithm that solves the optimal execution problem of incident commander's guidance during disaster emergency management. To achieve a joint goal, the IC should select the best choice, as an optimal strategic decision, from available alternatives in a definite time. A strategic decision coordinates/controls macro actions of a team of field units by constraining a subteam to a subgoal in sublocation in a time window; moreover a sequence of strategic decisions generates a macro action plan that defines howto reach the goal. Three results are achieved by running this algorithm for a scenario: 1 calculate an optimal macro action plan; 2 estimate a minimum total time to achieve a joint goal and 3 reason about the best choice. We applied our approach to develop an intelligent software system autonomous agent for assisting the human in crisis response to earthquake disaster.