Pell, B.; Gamble, E.; Gat, E.; Keesing, R.; Kurien, J.; Millar, B.; Nayak, P. P.; Plaunt, C.; and Williams, B. 1998b. A hybrid procedural/deductive executive for autonomous spacecraft. In Wooldridge (1998). To appear.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....the verification of the individual component instantiations. 5 Example In this section we present an example of using architecture theories to assist in the verification of a multithreaded plan execution system. This plan execution system is one subsystem of NASA s New Millennium Remote Agent [13, 12], an artificial intelligence based spacecraft control system architecture that is scheduled to launch in December of 1998. 5.1 Background In the plan executive there is a collection of concurrently executing control tasks. To simplify the programming of the individual control tasks, there is a ....

Barney Pell, Ed Gamble, Erann Gat, Ron Keesing, Jim Kurien, Bill Millar, P. Pandurang Nayak, Christian Plaunt, and Brian Williams. A hybrid procedural/deductive executive for autonomous spacecraft. In P. Pandurang Nayak and B. C. Williams, editors, Procs. of the AAAI Fall Symposium on Model-Directed Autonomous Systems. AAAI Press, 1997.

.... is designed to control s c autonomously for extended periods of time, and is being demonstrated on the Deep Space One s c (DS 1) scheduled to launch July, 1998 (Bernard et al. 1998) A prototype of RA was also tested on a complex simulated Saturn Orbit Insertion (SOI) scenario for the Cassini s c (Pell et al. 1998a) In this paper we use s c to refer to any extraterrestrial craft including rovers. However, RA is not limited to controlling s c. RA is composed of the planner scheduler (PS) the model based mode identification and recovery system (MIR) for fault diagnosis and repair, and the executive (EXEC) ....

....In this paper we use s c to refer to any extraterrestrial craft including rovers. However, RA is not limited to controlling s c. RA is composed of the planner scheduler (PS) the model based mode identification and recovery system (MIR) for fault diagnosis and repair, and the executive (EXEC) (Pell et al. 1998a) This paper focuses on EXEC. The Remote Agent Executive EXEC is event driven and goal oriented and forms the core of RA. It provides a language and a framework in which software designers can express how planning, control, diagnosis, and reconfiguration capabilities are to be integrated into ....

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Pell, B.; Gamble, E.; Gat, E.; Keesing, R.; Kurien, J.; Millar, B.; Nayak, P. P.; Plaunt, C.; and Williams, B. 1998b. A hybrid procedural/deductive executive for autonomous spacecraft. In Wooldridge (1998). To appear.

....valves with varying amounts of wear and tear. It is difficult to express the right valve choices to redirect fluid flow while minimizing costs and risks in the wide variety of situations that might be encountered in flight. Examples like these drove the design of RA s hybrid execution system [59], which integrates EXEC, the procedural executive based on generic procedures, with MIR, a deductive model based executive (see Section 5) that provides algorithms for sophisticated state inference and optimal failure recovery planning. RA s integrated executive enables designers to encode ....

Barney Pell, Ed Gamble, Erann Gat, Ron Keesing, Jim Kurien, Bill Millar, P. Pandurang Nayak, Christian Plaunt, and Brian Williams. A hybrid procedural/deductive executive for autonomous spacecraft. In Wooldridge [72].

....and therefore the planner needs to be called infrequently and generate plans for relatively long temporal horizons (from several hours to a week) 4.5. A Hybrid Execution Strategy Runtime management of all system activities is performed by a hybrid of procedural model based execution capabilities [35]. The hybrid executive s functions include execution of the top level operational cycle, plan execution, hardware reconfiguration and runtime resource management, plan monitoring, diagnosis and fault recovery. The hybrid executive invokes the planner to help it perform these functions. The ....

Barney Pell, Ed Gamble, Erann Gat, Ron Keesing, Jim Kurien, Bill Millar, P. Pandurang Nayak, Christian Plaunt, and Brian Williams. A hybrid procedural /deductive executive for autonomous spacecraft. In P. Pandurang Nayak and B. C. Williams, editors, Procs. of the AAAI Fall Symposium on ModelDirected Autonomous Systems. AAAI Press, 1997.

....task interdependencies, efficient utilization of resources and satisfaction of temporal deadlines. Similarly to classical planning [19] and scheduling [8] systems this may involve extensive search and it is inherently time consuming. Once it is produced, the plan is shipped to the Executive (EXEC) [17, 18, 16], which issues commands to the low level real time control software according to the plan s directives. EXEC is purely reactive. High level directives contained in the plan correspond to detailed execution scripts. Such scripts allow EXEC to locally react to sensor information interpreted by the ....

Barney Pell, Ed Gamble, Erann Gat, Ron Keesing, Jim Kurien, Bill Millar, P. Pandurang Nayak, Christian Plaunt, and Brian Williams. A hybrid procedural /deductive executive for autonomous spacecraft. In M. Wooldridge, editor, Proceedings of the Second Int'l Conference on Autonomous Agents. ACM Press, 1998. To appear.

.... autonomously for extended periods of time, and is being demonstrated on the Deep Space One spacecraft (DS 1) scheduled to launch October, 1998 [ Bernard et al. 1998 ] A prototype of RA was also tested on a complex simulated Saturn Orbit Insertion (SOI) scenario for the Cassini spacecraft [ Pell et al. 1998a ] However, RA is not limited to controlling spacecraft. RA is a general agent architecture that is applicable to a wide variety of applications; we are currently applying it to communication satellites and rovers, with possible future applications to life support systems, autonomous propellant ....

....to life support systems, autonomous propellant manufacturing, and space and earth based interferometers. The Remote Agent itself comprises four components: a Mission Manager (MM) a Planner Scheduler (PS) a Smart Executive (EXEC) and a Mode Identification and Reconfiguration component (MIR) Pell et al. 1998a, Muscettola et al. 1998b ] The architecture is shown in Figure 1. This paper focuses on EXEC. Mission Manager (MM) MM is special module of the planner that formulates shorter term planning problems based on a long range mission profile. The mission profile, which is provided at launch, ....

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Barney Pell, Ed Gamble, Erann Gat, Ron Keesing, Jim Kurien, Bill Millar, P. Pandurang Nayak, Christian Plaunt, and Brian Williams. A hybrid procedural/deductive executive for autonomous spacecraft. In Wooldridge [1998] . To appear.

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