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l12_conting_exec

l12_conting_exec - Mission Goals and Environment...

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Robust Task Execution: 1 Brian C. Williams 16.412J/6.834J March 14 th , 2005 Robust Task Expansion Projective Task Expansion Goals Dynamic Scheduling and Task Dispatch Task Dispatch Temporal Plan Commands Observations Modes Mission Goals and Environment Constraints Temporal Network Solver Temporal Planner Initial Conditions Procedural and Model-based Model-based Executive S Plant Obs Cntrl Embedded Programs S Continuous Reactive Commanding Continuous Mode/State Estimation Model Create Languages that are: Commanded with desired state Desiderata: Robust Task-level Execution Model-based • Suspicious •Monitor intentions and plans • Self-Adaptive • Exploits and generates contingencies • Anticipatory • Predicts, plans and verifies into future •State Aware • Fault Aware •Reasons about and responds to failure Outline Safe Procedural Execution Model-Predictive Dispatch • Model-based Reactive Planning Robust Task Execution: RAPS [Firby PhD] RAPS Monitors Success Against Spec (define-rap (move-to thing place) (succeed (LOCATION thing place)) (method (context (and (LOCATION thing loc) (not (= loc UNKNOWN)))) (task-net (t0 (goto loc) ((TRUCK -LOCATION loc) for t1)) (t1 (pickup thing)((TRUCK -HOLDING thing) for t2) ((TRUCK -HOLDING thing) for t3)) (t2 (goto place) ((TRUCK-LOCATION place) for t3)) (t3 (putdown thing)))) (method (context (LOCATION thing UNKNOWN)) (task-net (t0 (goto WAREHOUSE))))) Robust Task Execution: RAPS [Firby PhD] RAPS Exploits contingencies by performing functionally redundant method selection (define-rap (move -to thing place) (succeed (LOCATION thing place)) (method (context(and (LOCATION thing loc) (not (= loc UNKNOWN)))) (task-net (t0 (goto loc) ((TRUCK -LOCATION loc) for t1)) (t1 (pickup thing)((TRUCK -HOLDING thing) for t2) ((TRUCK -HOLDING thing) for t3)) (t2 (goto place) ((TRUCK-LOCATION place) for t3)) (t3 (putdown thing)))) (method (context (LOCATION thing UNKNOWN)) (task-net (t0 (goto WAREHOUSE))))) 1
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RAPS Exploits contingencies by performing functionally redundant method selection – Methods are chosen based on the current situation. – If a method fails, another is tried instead. – Tasks do not complete until satisfied. – Methods can include monitoring subtasks to deal with contingencies and opportunities. Methods selected reactively Model -predictive dispatch Goals explicitly observable and controllable Model -based execution Robust Task Execution: RAPS [Firby PhD] Environment Model Commands Observations Control Program Kirk Model-based Executive RMPL Model-based Program location goals location estimates Selects consistent threads of activity from redundant methods Tracks location Finds least cost paths Executes concurrently Preempts non -deterministic choice A[l,u ] timing A at l location HOME T W O Enroute COLLECTION POINT RENDEZVOUS Diverge SCIENCE AREA 1’ SCIENCE AREA 3 Landing Site: ABC Landing Site: XYZ O N E SCIENCE AREA 1 Executive pre-plans activities pre-plans paths dynamically schedules [Tsmardinos et al.] Plant Schedules and Dispatches Activities Dynamically Outline
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