The Open Autonomy Kernel (OAK) addresses critical infrastructure requirements for next generation autonomous and semi-autonomous systems (24), including performance tracking, anomaly detection, diagnosis, fault recovery, and plant "safing". OAK combines technologies in automated planning and scheduling, control agent-based systems (22), and model based reasoning to form a portable software architecture (26), knowledge-base, and open Application Programming Interface (API) to enable integrated auxiliary subsystem autonomy.