We are designing a goal-based planning and simulation system called REACTOR for a multiple-actor world in which partially formulated plans are monitored during execution, providing feedback to the planner. Plan failures that occur are diagnosed by a combination of top-down (plan-synthesis) and bottom-up (plan-understanding) techniques, allowing an informed choice of response to the error. By maintaining separate belief spaces for each actor, we simulate planners who themselves simulate the planning and plan-understanding of other actors
