A Companion system should be able to recommend courses of action adapted to the current surrounding situation and emotional status of the user, as well as provide decision support and execute actions autonomously.

As a basis for that, a method for individual plan generation is being developed that tailors plans to individual users according to their respective needs, abilities, and preferences. Because a Companion system inevitably needs to deal with unforeseen events and unexpected user behavior, it needs to have the ability to modify generated plans during execution. Procedures for adapting plans to new goals and the current emotional status of the user are developed for this purpose. A procedure for plan repair additionally compensates for errors that occur during plan execution, adapted to the user and the current situation.