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Http://research.att/~kautz/talks/

Http://www.research.att.com/~kautz/talks/. The Role of Optimization and Deduction in Reactive Systems. P. Pandurang Nayak NASA Ames Research Center Brian C. Williams MIT. Autonomous Mars Airplane. courtesy NASA Ames. The Cost of Autonomy: Cassini. ~ 1 billion $ 7 years to build

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Http://research.att/~kautz/talks/

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  1. Http://www.research.att.com/~kautz/talks/

  2. The Role of Optimization andDeduction in Reactive Systems P. Pandurang Nayak NASA Ames Research Center Brian C. Williams MIT

  3. Autonomous Mars Airplane courtesy NASA Ames

  4. The Cost of Autonomy: Cassini • ~ 1 billion $ • 7 years to build • ~ 150 - 300 ground operators • 100 million $ • 2 year build • 0 ground ops Cassini Maps Titan courtesy JPL

  5. Model-based Executive for Fault Protection Command dispatch Fault protection Attitude control Remote Agent Mission Manager Planner & Scheduler Procedural Executive ESL Monitors AMES / JPL

  6. Model-based Execution as a kind of Stochastic Optimal Controller Models Goals s’(t) mode reconfiguration Controller mode identification (t) o(t) Plant s(t) g f Livingstone • Indirect sensing and control. • Probability, optimality, logic & deduction.

  7. OPSAT Check Consistency Best First Agenda Optimal feasible solutions ITMS Generate:Best Kernel Assignments • Generate minimal covering of conflicts, in best first order. • Compact encoding grows agenda linearly with checked states Test: SAT • Unit propagation dominates, ITMS efficiently tracks changes. Kernel assignments Checked solutions generate successors conflict database

  8. Remote Agent Experiment See rax.arc.nasa.gov May 17-18th experiment • Generate plan for course correction and thrust • Diagnose camera as stuck on • Power constraints violated, abort current plan and replan • Perform optical navigation • Perform ion propulsionthrust May 21th experiment. • Diagnose faulty device and • Repair by issuing reset. • Diagnose switch sensor failure. • Determine harmless, and continue plan. • Diagnose thruster stuck closed and • Repair by switching to alternate method of thrusting. • Back to back planning

  9. Remote Agent Experiment See rax.arc.nasa.gov May 17-18th experiment • Generate plan for course correction and thrust • Diagnose camera as stuck on • Power constraints violated, abort current plan and replan • Perform optical navigation • Perform ion propulsionthrust May 21th experiment. • Diagnose faulty device and • Repair by issuing reset. • Diagnose switch sensor failure. • Determine harmless, and continue plan. • Diagnose thruster stuck closed and • Repair by switching to alternate method of thrusting. • Back to back planning

  10. Douglas Bernard JPL Steve Chien JPL Greg Dorais Ames Julia Dunphy JPL Dan Dvorak JPL Chuck Fry Ames Ed Gamble JPL Erann Gat JPL Othar Hansson Thinkbank Jordan Hayes Thinkbank Bob Kanefsky Ames Ron Keesing Ames James Kurien Ames Bill Millar Ames Sunil Mohan Formida Paul Morris Ames Remote Agent Team Members • Nicola Muscettola Ames • Pandurang Nayak Ames • Barney Pell Ames • Chris Plaunt Apple • Gregg Rabideau JPL • Kanna Rajan Ames • Nicolas Rouquette JPL • Scott Sawyer LMMS • Rob Sherwood JPL • Reid Simmons CMU • Ben Smith JPL • Will Taylor Ames • Hans Thomas Ames • Michael Wagner 4th Planet • Greg Whelan CMU • Brian C. Williams Ames • David Yan Stanford

  11. Outline • Deep Space One and Remote Agent • Model-based Execution • OPSAT and the ITMS • Model-based Reactive Planning • Space Robotics

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