1. A system for preventing and detecting conflicts and errors through prognostics and diagnostics, comprising: multiple autonomous agents or control units; each receiving a list of parameters associated with agents or control units with which the current agent or control unit has an inclusive, mutually exclusive, or other relationship, each modeling a first constraint; each performing detection, including; a) identifying any conflict or error associated with the first constraint; b) marking the first constraint to identify whether any conflict or error is identified; c) communicating a message to another of the agents or control units, the message including information determined at least in part based on whether any conflict or error is identified; d) performing at least one of diagnosis and prognosis in the agent or control unit based at least in part on the first constraint, including identifying each constraint having a first predefined relationship with the first constraint and marking the identified constraint; and wherein the predetermined relationship includes a condition wherein a time associated with the identified constraint is the same or earlier than a time associated with the constraint marked in step b).