Advanced behavior engine

A method of generating a command for a remote vehicle controller of a remote vehicle by taking in goals and constraints compiled from behavior inputs, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors, the method comprising:

• executing a command by a processor based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action;
• electronically providing the best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller, and
• commanding one or more actuators of the remote vehicle by the remote vehicle controller based on the servo commands;
• wherein the best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.