22. 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 if the result of determining whether or not a prerequisite included in the action data corresponding to the logical command is satisfied indicates that the prerequisite is not satisfied and an action capable of satisfying the prerequisite is not in the action library, the action planning unit outputs an error message.
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.