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AUV Workbench and Autonomous Vehicle Command Language (AVCL)

AUV Workbench and Autonomous Vehicle Command Language (AVCL). Progress and plans Don Brutzman and Duane Davis Naval Postgraduate School 18 October 2011. AUV Workbench poster. Planning, generating and running robot missions. Autonomous unmanned vehicle (AUV) workbench.

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AUV Workbench and Autonomous Vehicle Command Language (AVCL)

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  1. AUV Workbench and Autonomous Vehicle Command Language (AVCL) Progress and plans Don Brutzman and Duane Davis Naval Postgraduate School 18 October 2011

  2. AUV Workbench poster

  3. Planning, generating and running robot missions Autonomous unmanned vehicle (AUV) workbench

  4. Our 3 R’s: rehearsal, reality, replay • Same needs and capabilities for each: mission, visualization, data support, etc. • AUV workbench supports each • ongoing work, starting to mainstream • 15 years of accumulated effort • integrating great variety of successful work • new work projects occurring regularly • Collaboration is welcome

  5. Autonomous Unmanned Vehicle (AUV) Workbench builds missions, tracks • Models air, surface, underwater, ground robots • Currently work: remote operated vehicle (ROV) • Open-source Java, XML, etc. with online archives • Autonomous Vehicle Command Language (AVCL): 3-level XML-based language for robot telemetry, mission orders, mission planning • Multiple converters written • Tools for doing work! Mission displays, GIS, X3D graphics visualization, telemetry plots

  6. Rehearsal • Prepare missions, either manually or automatically via other software tools • Test robot software’s ability to perform commands • Test again with physics “in the loop” • Hydrodynamics and control are critical, difficult • Sonar, environmental modeling • Repeat until robust, with cautious respect • “Simulation is doomed to success” – G. Bekey

  7. Reality: real-time mission support • Monitor mission progress • Task-level control using same mission vocabulary • Visualize and supervise operations • caveat, again: work in progress • Integrate acoustic and RF communications • Chat for distributed collaboration among participants, both human and robotic

  8. Record mission metadata for archives • Support operator keeping detailed notes, kept in context when conducting mission • Prompt for full details as appropriate • Archive notes for later review and followup • Future work • Automatic tests to confirm configuration, control • Automate pre-underway checklists

  9. Replay: post-mission support • Automatic archiving of mission to server • Being built into workbench – simplify user tasks • Integration and compression of all relevant data into single compressed XML file • Metadata for mission • Many pieces: ordered mission, commands, telemetry, coefficients, contacts, etc. etc. • Autonomous Vehicle Control Language (AVCL) is Ph.D. work by CDR Duane Davis

  10. Features Augments Existing Vehicle Control Software Translation to Vehicle-Specific Data Format at Lowest Level AVCL Mission Construct Reliant Minimal Modification to Existing Vehicle Controller Communications Model Pull—Higher Levels Query Lower Levels Push—Higher Levels Command Lower Levels Push—Lower Levels Provide Unrequested Information The Extended Rational Behavior Model Extended Rational Behavior Model Controller Strategic Level Declarative AVCL Mission Agenda Control High-Level World Model Goal Planner Status Query Script Status Task-Level Behavior Script Tactical Level Mid-Level World Model Script Control Task-Level Behavior Translator Command Flow Vehicle-Specific Command Command Status Status Query Implied Data Visibility Optional Communications Execution Level (existing vehicle controller) State and Sensor Data

  11. AVCL track, planned and simulated

  12. AVCL planned mission track into KML

  13. AVCL simulation track to KML

  14. Extensible 3D (X3D) Graphics • ISO Standard, developed by working-group members of non-profit Web3D Consortium • Broad range of 3D graphics, multiple codebases • Patterned after HTML and Web Architecture • Evolved Virtual Reality Modeling Language (VRML) • XML, ClassicVRML, compressed binary encodings • Archival publishing of 3D models • Geometry, interaction, navigation, DIS networking • Many many resources, exemplars, archives, etc.

  15. Slow but steady progress AUV workbenchwork in progress

  16. AUV Workbench efforts in progress • AUV Workbench • Mission metadata and mission reports • Restructured threading for performance, debugging • Testing AVCL support: AllCommandsUuv.xml etc. • Joystick input: ROV or human-substitute control • Xj3D visualization improvements • Rendering support for 64-bit architectures • Group merging multiple builds into common trunk • Nightly builds and releases

  17. AllCommandsUuv.xml • List and test every AVCL command • Simple testing of workbench software • Confirms interface and validation • Not necessarily a runnable mission • Considering adding “dead reckoning” to 2D plot • Mission unit tests for comprehensive coverage likely to follow • Also for other robotics platforms • AllCommandsUsv.xml AllCommandsUav.xml AllCommandsUgv.xml

  18. Joystick input • Motivation • Rehearse ROV missions, especially for high-school student experiments and competitions • Provide alternate control input when rehearsing complex UUV missions • Make AUV Workbench suitable for classroom or poolside use • Software • Java jinput project handles different devices and operating systems satisfactorily

  19. Thoughts on autonomous ethics • Everything old is new again • Largely unexplored or unconsidered territory? • Significant history of experience: mine warfare? • Assume success… then what? • Even if perfectly executable, proper robot logic is not useful unless it is a directly extension of warfighter logic • Rules of Engagement, Concepts of Operations, Doctrine, Tactics, etc. must be expressible in equivalent terms in order to be effective, usable

  20. Multi-layer robot architectures • 3 common layers defined in Rational Behavior Model (RBM) robot architecture • Strategic: planning, goal evaluation, strategy • Tactical: navigation, operations, mission conduct • Execution: low-level control of systems • Autonomous Vehicle Command Language (AVCL) mappable to many robot dialects • Possible fourth layer: Rules of Engagement? • provide ethical constraints on robot strategies

  21. XML vocabulary for robot mission specification, conduct and replay Autonomous vehicle command language (AVCL)

  22. Problem: Mission Incompatibility for Dissimilar Autonomous Vehicles (AVs) • Vehicle-specific data formats and mission planning systems preclude effective coordination in multi-vehicle systems and hinder the design of such systems. • To date, the preponderance of multi-vehicle research has assumed inherent compatibility: homogeneous vehicle systems or explicitly programmed compatibility.

  23. AVCL Support AAV 1 AAV 2 AUV 1 ASV 1 AUV 1 AUV 2 AAV 1 ASV 2 AUV 2 AAV 2 ASV 1 ASV 2 Support Support Support Support Support Support Proposed Solution: A Common AV Data Model • Common Data Format: (e.g., AVCL): • Mission Specification (tasking) • Communications • Mission Results • Automated Conversions • AVCL to Vehicle-Specific • Vehicle-Specific to AVCL • Ultimate Goals • Facilitate interoperability between dissimilar vehicles (including legacy) • Support pre-, mid-, and post-mission data requirements • Provide other vehicles and human operators intuitive and efficient data access

  24. AVCL Description • Autonomous Vehicle Control Language (AVCL) is a command and control language for autonomous unmanned vehicles, enabling common XML-based representations for mission scripts, agenda plans and post-mission recorded telemetry. Operators can utilize a single archivable and validatable format for robot tasking and results that is directly convertible to and from a wide variety of different robot command languages.

  25. Multi-Layer AV Control Architectures Hierarchical Hybrid Relationship to AVCL Declarative Mission Scripted Mission Rational Behavior Model (RBM) Three-Level Hybrid Architecture Strategic Level: Ship CO Tactical Level: Watch Officers Execution Level: Watch Standers RBM vs AVCL: Strategic Level: Declarative Mission Tactical Level: Behavior Script Execution Level: Individual Commands AVCL Integration in a Multi-Layer AV Control Architecture

  26. AVCL and Related Technologies • Exemplar Data Model Definition: AVCL • Task-Level Behavior Set Determination • XML Schema Design • Correlated information: • Mission Specification (goals, constraints, tasking) • Mission Results (telemetry) • Communications (message set) • Data Conversions • AVCL translation to Vehicle-Specific languages • Vehicle-Specific language translations to AVCL • AVCL Declarative output as AVCL Task-Level commands • AVCL Task-Level status responses to AVCL Declarative • Data Model Use to Facilitate AV Control • Integration into a Multi-Layer Architecture

  27. Scripted Mission Specification • Task-Level Behaviors • Minimum Requirements to Capture Arbitrary Tasking • Behavior Activation and Termination Criteria • Scripting • Atomic Task-Level Behaviors • Sequential Execution • Potential Parallelism SetPosition MakeSpeed MakeDepth Waypoint MakeAltitude Waypoint ObtainGPS Waypoint Quit

  28. Declarative Goal-Based Mission Specification • 14 Predefined Goal Types • Finite State Machine (FSM) • States Represent Individual Goals • Transitions Executed upon Goal Success or Failure Mission Start Search Area A Fail Succeed Sample Environment in Area A Search Area B Succeed or Fail Fail Succeed Rendezvous with UUV-2 in Area C Succeed or Fail Mission Complete

  29. Theory and Practice AVCL Translations and parser production

  30. Task Level Commands Vehicle-Specific Languages AVCL Translations Overview External C2 Systems • AVCL to Vehicle-Specific Data • XSLT (text) • Vehicle-Specific XML (binary) • Vehicle-Specific Data to AVCL • Context Free Grammars (text) • Vehicle-Specific XML (binary) • Artificial Intelligence • Planning and Search • Case-Based Reasoning • Bayesian Reasoning • Business Objects • Command and Control Information Exchange Data Model (C2IEDM) • AVCL Declarative Tasking C2IEDM Business Objects AVCL Mission Goals and Constraints Rules & Templates Planner CFGs or Vehicle-Specific XML XSLT and Vehicle-Specific XML

  31. Vehicle-Specific Script AVCL Script XSLT Stylesheet Translation from AVCL to Text-Based Vehicle-Specific Formats • AVCL to Text—Direct generation with XSLT • Exemplar Translations • AVCL to Phoenix UUV • AVCL to ARIES UUV • AVCL to Seahorse UUV • AVCL to REMUS UUV

  32. Why? Inability to Update Variable Values in XSLT while looping (immutable properties) Requirement to Maintain Behavior Parameters for Parallel Execution How? Use Template Parameters Explicitly Controlled Iteration A Mutable Variable Pattern for XSLT begin XSLT processing variable B = sequential list of task-level behaviors apply template for B1 with default parameters d1 to dn end XSLT processing begin template for task-level behavior Bi with parameters p1 to pn for k = 1 to n variable vk if Bi updates pk vk = new_pk else vk = pk generate required output for Bi apply template for Bi+1 with parameters v1 to vn end template

  33. Vehicle-Specific XML Vehicle-Specific XML Vehicle-Specific Binary Custom Serializer XSLT Stylesheet AVCL Data XSLT Stylesheet Custom Reader Translation from AVCL to Binary Vehicle-Specific Formats and Vice Versa • AVCL to Binary • Generate vehicle-specific XML with XSLT • Serialize to binary • Binary to AVCL • Read from binary to vehicle-specific XML • Generate AVCL with XSLT • Exemplar Implementation • AVCL to Joint Architecture for Unmanned Systems (JAUS) Messages • JAUS Messages to AVCL Vehicle-Specific Binary AVCL Script

  34. Parse as a Context Free Language (CFL) Chomsky Normal Form (CNF) Context Free Grammar (CFG) Cocke-Younger-Kasami (CYK) Parsing Algorithm Yields a Binary Parse Tree Translate Parse Tree to AVCL Depth First Traversal Template-Based Translation of Individual Parse Nodes CFG Serves the Same Role as an XML Schema Parser/Translator Serves the Same Role as an XSLT Stylesheet Mission LaunchCmd MissionMdl MissionEnd WaypointCmd SurfaceCmd RendezvousCmd Translating Vehicle-Specific Text Formats to AVCL Example Chomsky Normal Form Rules: Mission -> LaunchCmd + MissionMiddle Mission -> LaunchCmd + MissionEnd MissionMiddle -> WaypointCmd + MissionMdl MissionMiddle -> SurfaceCmd + MissionMdl MissionMiddle -> WaypointCmd + MissionEnd MissionMiddle -> SurfaceCmd + MissionEnd MissionEnd -> WaypointCmd + RendezvousCmd MissionEnd -> SurfaceCmd + RendezvousCmd Example (Partial) Parse Tree

  35. Inter-Area Transit Best-First (A*) Search Goal Accomplishment Planning Trivial Goal Types MonitorTransmissions Reposition Others Require Area Coverage (Search) Decision-Tree Plan-Type Selection Parameterized Preplanned Patterns for Regularly Shaped Operating Areas Planner-Generated (A*, Hill-Climbing, Iterative Improvement) for Irregularly Shaped Areas Translation of Declarative Missions to Task-Level Behavior Scripts

  36. TODO wish list for AVCL v2.1 • AVCL schema needs to be simplified • Remove vehicle-specific duplicate definitions • Possibly streamline inner abstract types • Blocker: all changes reflected in JAXB API, so XML changes provoke corresponding AUVW changes • Multi-vehicle message passing, coordination • Graduate improvements using MetaCommand • Joystick • Publish JAXB library as independent API

  37. References • AUV Workbench • https://savage.nps.edu/AuvWorkbench • AVCL page (with schema, DTD, documentation) • https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.html • Duane Davis Dissertation • Design, Implementation and Testing of a Common Data Model Supporting Autonomous Vehicle Compatibility and Interoperability

  38. Collaboration is welcome • Naval Postgraduate School (NPS) is .mil, .edu university driven by research and education • Happy to offer our resources for your use • Happy to write proposals together to fund work • Coming soon: 4 online courses as distance-learning certificate • X3D graphics I and II, Simulation Networking, Networked Virtual Environments (NVE) • Please tell us what you think. Thanks!

  39. Contact • Don Brutzman, Ph.D. • brutzman@nps.navy.mil • brutzman@nps.navy.smil.mil • http://faculty.nps.edu/brutzman • Code USW/Br, Naval Postgraduate School • Monterey California 93943-5000 USA • 1.831.656.2149 work • 1.831.402.4809 cell

  40. Contact • Duane Davis, CDR USN, Ph.D. • dtdavi1@nps.edu • Code CS/Dv, Naval Postgraduate School • Monterey California 93943-5000 USA • 1.831.656.7980 work

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