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l12actplanngraph

l12actplanngraph - Activity Planning and GraphPlan Slides...

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Activity Planning and GraphPlan Brian C. Williams 16.410-13 Session 12 Slides draw upon material from: Prof. Maria Fox Monitors Autonomous Agents Command dispatch Fault protection Attitude control Mission Goal Scenario Self Self- commanding Self Self- diagnosing diagnosing Self Self- repairing RECOVERY PLANNING EXECUTION Commanded at: • Mission level • Engineering level Reading and Assignment for Planning Lectures Graph-based Planning AIMA Chapter 11 AIMA = “Artificial Intelligence: A Modern Approach,” by Russell and Norvig. Assignment No problem set out this week, due to mid-term. Please take the practice mid-term. 1
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- - Outline Example: MER Mission-Planning The Operator-based Planning Problem Plan Graphs Solution to A Graph Plan Problem Plan Graph Construction Mars Exploration Rovers – Jan. 2004 - ? Mars Exploration Rovers – Jan. 2004 - ? Mission Objectives: Mission Objectives: Mini-TES Pancam Navcam Rock Abrasion Tool Microscopic Imager Mossbauer spectrometer APXS Learn about ancient water and climate on Mars. Learn about ancient water and climate on Mars. For each rover, analyze a total of 6-12 targets For each rover, analyze a total of 6-12 targets – Targets Targets = natural rocks, abraded rocks, and soil natural rocks, abraded rocks, and soil = Drive 200-1000 meters per rover Drive 200-1000 meters per rover Take 1-3 panoramas both with Pancam and mini-TES Take 1-3 panoramas both with Pancam and mini-TES Take 5 Take 5 -15 daytime and 1 15 daytime and 1 -3 nighttime sky observations 3 nighttime sky observations with mini-TES with mini-TES Courtesy of Kanna Rajan, NASA Ames. Used with permission. Mars Exploration Rover Surface Operations Scenario Day 2 Traverse Estimated Error Circle Target Day 2 Initial Position; Followed by “Close Approach” During the Day Autonomous On- Board Navigation Changes, as needed Day 2 Traverse Estimated Error Circle Day 3 Science Prep (if Required) Day 1 Long-Distance Traverse Day 4 (<20-50 meters) During the Day Science Activities Courtesy of Kanna Rajan, NASA Ames. Used with permission. 2
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EUROPA Automated Planning System Activity Name Durati on 10 11 12 13 14 15 16 17 18 19 20 21 22 23 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 0 1 2 3 4 5 6 7 8 9 DTE 4.50 0.75 DTE period DFE Night Time Rover Operations 16.97 Night Time Rover Operations Sleep Wakeup Pre-Comm Session Sequence Plan Review Current Sol Sequence Plan Review 1.50 1.50 Current Sol Sequence Plan Review Prior Sol Sequence Plan Review 2.00 Prior Sol Sequence Plan Review Real-TIme Monitoring 4.50 0.75 Real-TIme Monitoring Real-TIme Monitoring Downlink Product Generation... 2.75 Downlink Product Generation Tactical Science Assessment/Observation Planning 5.00 Tactical Science Assessment/Observation Planning Science DL Assessment Meeting 1.00 Science DL Assessment Meeting Payload DL/UL Handoffs 0.50 Payload DL/UL Handoffs Tactical End-of-Sol Engr. Assessment & Planning 5.50 Tactical End-of-Sol Engr. Assessment & Planning DL/UL Handover Meeting 0.50 DL/UL Handover Meeting Skeleton Activity Plan Update 2.50 Skeleton Activity Plan Update SOWG Meeting 2.00
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