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ROGUE is an architecture built on a real robot which providesalgorithms for the integration of high-level planning, low-level roboticexecution, and learning. ROGUE addresses successfully several of thechallenges of a dynamic office gopher environment. This article presents thetechniques for the integration of planning and execution.ROGUE uses and extends a classical planning algorithm to create plans formultiple interacting goals introduced by asynchronous user requests. ROGUE translates the planner‘s actions to robot execution actions and monitorsreal world execution. ROGUE is currently implemented using the PRODIGY4.0planner and the Xavier robot. This article describes how plans are createdfor multiple asynchronous goals, and how task priority and compatibilityinformation are used to achieve appropriate efficient execution. We describehow ROGUE communicates with the planner and the robot to interleave planningwith execution so that the planner can replan for failed actions, identifythe actual outcome of an action with multiple possible outcomes, and takeopportunities from changes in the environment.ROGUE represents a successful integration of a classical artificialintelligence planner with a real mobile robot.