A method includes accessing a domain model plan that includes a time independent initial state and a time independent goal state and sequences of events that include a sequence of a first event, a second event and a third event with conditional interrelationships; accessing operational data that include a failure condition for the third event and a time constraint for the failure condition; issuing a control instruction to rigsite equipment to perform a drilling-related action for generating the third event; during performance of the drilling-related action for generating the third event, receiving sensor data germane to the failure condition; upon occurrence of the failure condition, timing a duration of the occurrence of the failure condition; comparing the duration to the time constraint for the failure condition; and, based on the comparing, deciding to re-plan the domain model plan or to continue execution of the domain model plan.