Goal accomplishment tracking is the process of monitoring the progress of a task or series of tasks towards completing a goal. Goal accomplishment tracking is used to monitor goal progress in a variety of domains, including workflow processing, teleoperation and industrial manufacturing. Practically, it involves the constant monitoring of task execution, analysis of this data to determine the task progress and notification of interested parties. This information is usually used in a passive way to observe goal progress. However, responding to this information may prevent goal failures. In addition, responding proactively in an opportunistic way can also lead to goals being completed faster. This paper proposes an architecture to support the adaptive planning of tasks for fault tolerance or opportunistic task execution based on goal accomplishment tracking. It argues that dramatically increased performance can be gained by monitoring task execution and altering plans dynamically
