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  • Cybernetics, Artificial Intelligence and Robotics  (3)
  • 1
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    A Unified Approach to Model-Based Planning and Execution (2000)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Writing autonomous software is complex, requiring the coordination of functionally and technologically diverse software modules. System and mission engineers must rely on specialists familiar with the different software modules to translate requirements into application software. Also, each module often encodes the same requirement in different forms. The results are high costs and reduced reliability due to the difficulty of tracking discrepancies in these encodings. In this paper we describe a unified approach to planning and execution that we believe provides a unified representational and computational framework for an autonomous agent. We identify the four main components whose interplay provides the basis for the agent's autonomous behavior: the domain model, the plan database, the plan running module, and the planner modules. This representational and problem solving approach can be applied at all levels of the architecture of a complex agent, such as Remote Agent. In the rest of the paper we briefly describe the Remote Agent architecture. The new agent architecture proposed here aims at achieving the full Remote Agent functionality. We then give the fundamental ideas behind the new agent architecture and point out some implication of the structure of the architecture, mainly in the area of reactivity and interaction between reactive and deliberative decision making. We conclude with related work and current status.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: Intelligent Agent Systems; Jul 01, 2000; Venice; Italy
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    IDEA: Planning at the Core of Autonomous Reactive Agents (2002)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Several successful autonomous systems are separated into technologically diverse functional layers operating at different levels of abstraction. This diversity makes them difficult to implement and validate. In this paper, we present IDEA (Intelligent Distributed Execution Architecture), a unified planning and execution framework. In IDEA a layered system can be implemented as separate agents, one per layer, each representing its interactions with the world in a model. At all levels, the model representation primitives and their semantics is the same. Moreover, each agent relies on a single model, plan database, plan runner and on a variety of planners, both reactive and deliberative. The framework allows the specification of agents that operate, within a guaranteed reaction time and supports flexible specification of reactive vs. deliberative agent behavior. Within the IDEA framework we are working to fully duplicate the functionalities of the DS1 Remote Agent and extend it to domains of higher complexity than autonomous spacecraft control.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: Sixth International Conference on AI Planning and Scheduling; Apr 23, 2002 - Apr 27, 2002; Toulouse; France|Workshop on On-Line Planning and Scheduling; Apr 23, 2002 - Apr 27, 2002; Toulouse; France
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 3
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    Survey of Command Execution Systems for NASA Spacecraft and Robots (2005)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: NASA spacecraft and robots operate at long distances from Earth Command sequences generated manually, or by automated planners on Earth, must eventually be executed autonomously onboard the spacecraft or robot. Software systems that execute commands onboard are known variously as execution systems, virtual machines, or sequence engines. Every robotic system requires some sort of execution system, but the level of autonomy and type of control they are designed for varies greatly. This paper presents a survey of execution systems with a focus on systems relevant to NASA missions.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: International Conference on Automated Planning and Scheduling 2005; Jun 05, 2005 - Jun 10, 2005; Monterey, CA; United States
    Format: application/pdf
    Location Call Number Expected Availability
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    NASA TECHNICAL REPORTS
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