Control device, control method and storage medium

A control method executed by a computer, the control method comprising:

• determining,
• based on at least one of environment information relating to environment observed in a workspace of a controlled device to be controlled, state information relating to a state of the controlled device, and stored information that is stored information relating to the objective task to be executed by the controlled device,
• whether or not the objective task can be completed;
• setting, when it is determined that the objective task cannot be completed, an abstract state in the workspace based on at least one of the environment information or the stored information;
• and
• generating, based on the abstract state and the objective task, a sequence of subtasks to be executed by the controlled device.

A non-transitory computer readable storage medium storing a program executed by a computer, the program causing the computer to:

• determine,
• based on at least one of environment information relating to environment observed in a workspace of a controlled device to be controlled, state information relating to a state of the controlled device, and stored information that is stored information relating to the objective task to be executed by the controlled device,
• whether or not the objective task can be completed;
• set, if it is determined that the objective task cannot be completed, an abstract state in the workspace based on at least one of the environment information or the stored information;
• and
• generate, based on the abstract state and the objective task, a sequence of subtasks to be executed by the controlled device.