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We describe the interface between a real-time resource allocation system with an AI planner in order to create fault-tolerant plans that are guaranteed to execute in hard real-time. The planner specifies the task set and sll execution deadlines required to ensure system safety, then the resource allocator schedules these plans off-line to analyze execution platform resource utilization. A new interface module combines information from planning and resource allocation to enforce development of plans feasible for execution during a variety of internal system faults. Plans that over-utilize any system resource trigger feedback to the planner, which then searches for an alternate plan. A valid plan for each specified fault, including the nominal no-fault situation, is stored in a plan cache for subsequent real-time execution. We situate this work in the context of CIRCA, the Cooperative Intelligent Real-time Control Architecture …