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.
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. 28. 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 planning unit searches for a sub-action in the action library in the event that the prerequisite included in the action data corresponding to the logical command is satisfied and the sub-action is in the action library.