21. The apparatus of claim 20 , wherein the action header field indicates an action, the prerequisite field specifies any prerequisites needed to perform the action, the sub-action field specifies any sub-actions which are needed to complete execution of the action, and the action effect field specifies a result of execution of the action.
29. The apparatus of claim 21 , wherein the action planning unit determines whether or not a prerequisite included in the action data corresponding to the logical command is satisfied, and wherein the action is written in the action list in the event that the prerequisite included in the action data corresponding to the logical command is satisfied and a sub-action is not in the action library.