Goal-based planning system

This invention describes a smart planning system that figures out how one or more physical things can achieve a specific goal while following certain rules. It starts with an initial plan, then checks if any rules are broken. If so, it identifies the problem, finds a way to fix it, updates the goal to include that fix, and then creates a new, better plan, repeating this process until all rules are satisfied. The claims specifically narrow the entities to include unmanned vehicles.