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Abstract. We present a novel reactive execution model for planning control applications which repairs plan failures at runtime. Our proposal is a domain-independent regression planning model which provides good-quality responses in a timely fashion. The use of a regressed model allows us to work exclusively with the sufficient and necessary information to deal with the plan failure. The model performs a time-bounded process that continuously operate on the plan to recover from incoming failures. This process guarantees there always exists a plan repair for a plan failure at anytime. The model is tested on a simulation of a real-world planetary space mission and on a well-known vehicle routing problem.

This paper presents a novel multi-agent reactive execution model that keeps track of the execution of an agent to recover from incoming failures. It is a domain-independent execution model, which can be exploited in any planning control application, embedded into a more general multi-agent planning framework. The multi-agent reactive execution model provides a mechanism allowing an agent to respond to failures that prevent completion of a task when another agent is not able to repair the failure by itself. The model exploits the reactive planning capabilities of agents to come up with a solution at runtime, thus preventing agents from having to resort to replanning. We show the application of the proposed model for the control of multiple autonomous space vehicles.

In fish culture settings, the exogenous input of steroids is a matter of concern. Recently, we unveiled that in the gilthead seabream (Sparus aurata), the G protein-coupled estrogen receptor agonist G-1 (G1) and the endocrine disruptor 17α-ethinylestradiol (EE2) are potent modulators in polyreactive antibody production. However, the integral role of the microbiota upon immunity and antibody processing in response to the effect of EE2 remains largely unexplored. Here, juvenile seabreams continuously exposed for 84 days to oral G1 or EE2 mixed in the fish food were intraperitoneally (i.p.) immune primed on day 42 with the model antigen keyhole limpet hemocyanin (KLH). A critical panel of systemic and mucosal immune markers, serum VTG, and humoral, enzymatic, and bacteriolytic activities were recorded and correlated with gut bacterial metagenomic analysis 1 day post-priming (dpp). Besides, at 15 dpp, animals received a boost to investigate the possible generation of specific anti-KLH antibodies at the systemic and mucosal interphases by the end of the trial. On day 43, EE2 but not G1 induced a significant shift in the serum VTG level of naive fish. Simultaneously, significant changes in some immune enzymatic activities in the serum and gut mucus of the EE2-treated group were recorded. In comparison, the vaccine priming immunization resulted in an attenuated profile of most enzymatic activities in the same group. The gut genes qPCR analysis exhibited a related pattern, only emphasized by a significant shift in the EE2 group’s il1b expression. The gut bacterial microbiome status underwent 16S rRNA dynamic changes in alpha diversity indices, only with the exposure to oral G1, supporting functional alterations on cellular processes, signaling, and lipid metabolism in the microbiota. By the same token, the immunization elevated the relative abundance of Fusobacteria only in the control group, while this phylum was depleted in both the treated groups. Remarkably, the immunization also promoted changes in the bacterial class Betaproteobacteria and the estrogen-associated genus Novosphingobium. Furthermore, systemic and mucosal KLH-specific immunoglobulin (Ig)M and IgT levels in the fully vaccinated fish showed only slight changes 84 days post-estrogenic oral administration. In summary, our results highlight the intrinsic relationship among estrogens, their associated receptors, and immunization in the ubiquitous fish immune regulation and the subtle but significant crosstalk with the gut endobolome.