Computer Science – Artificial Intelligence
Scientific paper
Jan 2002
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2002iaf..confe.923h&link_type=abstract
IAF abstracts, 34th COSPAR Scientific Assembly, The Second World Space Congress, held 10-19 October, 2002 in Houston, TX, USA.,
Computer Science
Artificial Intelligence
Scientific paper
As our experience grows, space missions and systems are expected to address ever more complex and demanding requirements with fewer resources (e.g., mass, power, budget). One approach to accommodating these higher expectations is to increase the level of autonomy to improve the capabilities and robustness of on- board systems and to simplify operations. The goal decomposition hierarchies described here provide a simple but powerful form of goal-directed behavior that is relatively easy to implement for space systems. A goal corresponds to a state or condition that an operator of the space system would like to bring about. In the system described here goals are decomposed into simpler subgoals until the subgoals are simple enough to execute directly. For each goal there is an activation condition and a set of decompositions. The decompositions correspond to different ways of achieving the higher level goal. Each decomposition contains a gating condition and a set of subgoals to be "executed" sequentially or in parallel. The gating conditions are evaluated in order and for the first one that is true, the corresponding decomposition is executed in order to achieve the higher level goal. The activation condition specifies global conditions (i.e., for all decompositions of the goal) that need to hold in order for the goal to be achieved. In real-time, parameters and state information are passed between goals and subgoals in the decomposition; a termination indication (success, failure, degree) is passed up when a decomposition finishes executing. The lowest level decompositions include servo control loops and finite state machines for generating control signals and sequencing i/o. Semaphores and shared memory are used to synchronize and coordinate decompositions that execute in parallel. The goal decomposition hierarchy is reactive in that the generated behavior is sensitive to the real-time state of the system and the environment. That is, the system is able to react to state and environment and in general can terminate the execution of a decomposition and attempt a new decomposition at any level in the hierarchy. This goal decomposition system is suitable for workstation, microprocessor and fpga implementation and thus is able to support the full range of prototyping activities, from mission design in the laboratory to development of the fpga firmware for the flight system. This approach is based on previous artificial intelligence work including (1) Brooks' subsumption architecture for robot control, (2) Firby's Reactive Action Package System (RAPS) for mediating between high level automated planning and low level execution and (3) hierarchical task networks for automated planning. Reactive goal decomposition hierarchies can be used for a wide variety of on-board autonomy applications including automating low level operation sequences (such as scheduling prerequisite operations, e.g., heaters, warm-up periods, monitoring power constraints), coordinating multiple spacecraft as in formation flying and constellations, robot manipulator operations, rendez-vous, docking, servicing, assembly, on-orbit maintenance, planetary rover operations, solar system and interstellar probes, intelligent science data gathering and disaster early warning. Goal decomposition hierarchies can support high level fault tolerance. Given models of on-board resources and goals to accomplish, the decomposition hierarchy could allocate resources to goals taking into account existing faults and in real-time reallocating resources as new faults arise. Resources to be modeled include memory (e.g., ROM, FPGA configuration memory, processor memory, payload instrument memory), processors, on-board and interspacecraft network nodes and links, sensors, actuators (e.g., attitude determination and control, guidance and navigation) and payload instruments. A goal decomposition hierarchy could be defined to map mission goals and tasks to available on-board resources. As faults occur and are detected the resource allocation is modified to avoid using the faulty resource. Goal decomposition hierarchies can implement variable autonomy (in which the operator chooses to command the system at a high or low level, mixed initiative planning (in which the system is able to interact with the operator, e.g, to request operator intervention when a working envelope is exceeded) and distributed control (in which, for example, multiple spacecraft cooperate to accomplish a task without a fixed master). The full paper will describe in greater detail how goal decompositions work, how they can be implemented, techniques for implementing a candidate application and the current state of the fpga implementation.
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