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Executive(s). Life in the Atacama Design Review December 19, 2003 Nicola Muscettola Vijayakumar Baskaran NASA Ames Research Center. Description and Motivation. Model-Based Executive(s) for LITA Rover Executive Instrument Manager Modules were presented in September 2003.

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Executive s

Executive(s)

Life in the Atacama Design ReviewDecember 19, 2003

Nicola Muscettola

Vijayakumar Baskaran

NASA Ames Research Center

NASA Ames Research Center


Description and motivation

Description and Motivation

  • Model-Based Executive(s) for LITA

    • Rover Executive

    • Instrument Manager

  • Modules were presented in September 2003

  • NASA Ames Research Center


    Rover architecture using idea

    Mission-level agent

    Science

    Planner

    System-level agents

    Science

    Executive

    Rover Architecture using IDEA

    Operator

    Interface

    Offboard

    Telemetry

    Router

    Mission

    Planner

    Waypoints

    IDEA

    Mission Executive

    Mission

    Executive

    Status

    Waypoint

    Curvature,

    Speed & Time

    Curvature,

    Speed & Time

    Onboard

    Navigator

    Health

    Monitor

    Stop

    TerrainEvaluation

    Odometry

    Stereo

    Mapper

    State

    Estimator

    Vehicle

    Controller

    Status

    Status

    Sensors

    Images

    NASA Ames Research Center


    Description and motivation1

    Description and Motivation

    • Model-Based Executive(s) for LITA

      • Rover Executive

      • Instrument Manager

  • Modules were presented in September 2003

  • Motivating System Requirements: 3.1, 4.4, 5.4.1 (but what does that mean really?), 5.5, 6.0

  • NASA Ames Research Center


    Key requirements

    Key Requirements

    • Rover Executive: provide goal-driven commanding for high-level traverse and science operations

      • “Go to waypoint” and “Perform Detailed Investigations”

  • Instrument Manager: allows single goal commanding

    • “Do mosaic” instead of sequence of individual snapshots

  • Executive invokes planner(s) if necessary to optimize course of action

  • Executive translates between abstract goals and low-level commands

  • Executive issues commands and responses as a consequence of internal (synchronous) or external (asynchronous) events

  • Executive must be robust to wide range of faults (to be defined)

  • Executive must guarantee response within required time limits

  • NASA Ames Research Center


    Software organization

    Software Organization

    Science

    Interface

    Rover

    Interface

    Telemetry

    Goals

    Health

    Monitor

    Telemetry

    Manager

    SciencePlanner

    Mission

    Planner

    Measurements

    Faults

    Plans

    Plans

    State

    State

    Plans

    Measurements

    StateObserver

    Rover

    Executive

    State(All)

    Positions

    Stop

    Waypoints

    Actions

    Instrument

    Manager

    Position

    Estimator

    Mapper

    Navigator

    Odometry

    Curvature& Speed

    Far-field Evaluator

    Near-field Detector

    Vehicle

    Controller

    Instrument

    Controllers

    Images

    Measurements

    Data

    Images

    Proprioception& Sun Image

    Commands

    Commands

    NASA Ames Research Center


    Design considerations

    Design Considerations

    • Informing Design Principle:

      • The logic of execution and recovery shall be fully inspectable

  • A model-based approach combines a declarative model, a general-purpose plan synthesis engine and heuristics

  • A model-based approach is expected to allow quick incremental encoding of new recoveries from failure conditions as they are discovered

  • Metrics:

    • Coverage of failure conditions

    • Reaction time (as a function of model complexity)

  • The design is influenced from Remote Agent and Gromit rover experience

    • Reimplementation of the DS1 Executive as a model-based system vs the old procedural Executive in ESL

    • Gromit (ATRV Junior) rover executive reimplement PRS-based executive from LAAS/CNRS

  • NASA Ames Research Center


    Technical approach

    Technical Approach

    • Multiple executives (Rover Executive and Instrument Manager) vs single executive

      • Coupling between rover components

      • Reaction time

  • Currently focusing on single executive (consistent with Dave’s architecture concept)

  • Modeled constraints can be switched on or off to support direct teleoperation modes (monitored mode of requirements 6.0)

  • NASA Ames Research Center


    Implementation issues

    Implementation Issues

    • Prototype tests

      • Simulator

        • Mission Simulator Facility? Not clear if it is usable for real-time simulation

  • Rover

    • Multi-day scaled-down autonomous traverse with Gromit

    • Expected timeframe: April 2004

  • Risks

    • Complexity of incremental modeling

      Mitigations: full engagement of trained Ames personnel, training, better modeling tools/languages

    • Reaction latency

      Mitigations: faster planning framework (new EUROPA), use of procedural task expansion (TDL)

  • Issues

    • Relation of executive to health monitoring and telemetry server. External modules or internal modules?

    • What happens to executive during hybernation? Current design assumes it is always “active”, i.e., capable of reacting. Is this reasonable?

  • Schedule issues: need to firm up ASAP instrument models, message/command dictionary, mission operations concept.

  • NASA Ames Research Center


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