  Intelligent physical systems as embodied cognitive systems must perform
high-level reasoning while concurrently managing an underlying control
architecture. The link between cognition and control must manage the problem of
converting continuous values from the real world to symbolic representations
(and back). To generate effective behaviors, reasoning must include a capacity
to replan, acquire and update new information, detect and respond to anomalies,
and perform various operations on system goals. But, these processes are not
independent and need further exploration. This paper examines an agent's
choices when multiple goal operations co-occur and interact, and it establishes
a method of choosing between them. We demonstrate the benefits and discuss the
trade offs involved with this and show positive results in a dynamic marine
search task.
