AI Planner Applications Practical Applications of AI Planners Overview � Deep Space 1 � Other Practical Applications of AI Planners � Common Themes AI Planner Applications 2 1
Literature Deep Space 1 Papers � � Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and Practice , chapter 19,. Elsevier/Morgan Kaufmann, 2004. Bernard, D.E., Dorais, G.A., Fry, C., Gamble Jr., E.B., Kanfesky, B., Kurien, J., � Millar, W., Muscettola, N., Nayak, P.P., Pell, B., Rajan, K., Rouquette, N., Smith, B., and Williams, B.C. Design of the Remote Agent experiment for spacecraft autonomy . Procs. of the IEEEAerospace Conf., Snowmass, CO, 1998. � http://nmp.jpl.nasa.gov/ds1/papers.html Other Practical Planners � Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and � Practice , chapter 22 and 23. Elsevier/Morgan Kaufmann, 2004 Tate, A. and Dalton, J. (2003) O-Plan: a Common Lisp Planning Web Service, � invited paper, in Proceedings of the International Lisp Conference 2003, October 12-25, 2003, New York, NY, USA, October 12-15, 2003. http://www.aiai.ed.ac.uk/project/ix/documents/2003/2003-luc-tate-oplan-web.doc � AI Planner Applications 3 Deep Space 1 – 1998-2001 http://nmp.jpl.nasa.gov/ds1/ AI Planner Applications 4 2
DS 1 – Comet Borrelly http://nmp.jpl.nasa.gov/ds1/ AI Planner Applications 5 DS1 Domain Requirements Achieve diverse goals on real spacecraft � High Reliability • single point failures • multiple sequential failures � Tight resource constraints • resource contention • conflicting goals � Hard-time deadlines � Limited Observability � Concurrent Activity AI Planner Applications 6 3
DS1 Remote Agent Approach � Constraint-based planning and scheduling • supports goal achievement, resource constraints, deadlines, concurrency � Robust multi-threaded execution • supports reliability, concurrency, deadlines � Model-based fault diagnosis and reconfiguration • supports limited observability, reliability, concurrency � Real-time control and monitoring AI Planner Applications 7 DS1 Levels of Autonomy Listed from least to most autonomous mode: single low-level real-time command execution 1. time-stamped command sequence execution 2. single goal achievement with auto-recovery 3. model-based state estimation & error detection 4. scripted plan with dynamic task decomposition 5. on-board back-to-back plan generation, 6. execution, & plan recovery AI Planner Applications 8 4
DS 1 Levels of Autonomy DS 1 Systems Planning Execution Monitoring 5
DS1 RAX Functionality PS/MM � generate plans on-board the spacecraft � reject low-priority unachievable goals replan following a simulated failure � enable modification of mission goals from ground � EXEC � provide a low-level commanding interface � initiate on-board planning execute plans generated both on-board and on the ground � recognize and respond to plan failure � maintain required properties in the face of failures � MIR � confirm executive command execution � demonstrate model-based failure detection, isolation, and recovery demonstrate ability to update on-board state via ground commands � AI Planner Applications 11 DS1 Remote Agent (RA) Architecture 6
DS1 Planner Architecture DS1 Diversity of Goals Final state goals � • “Turn off the camera once you are done using it” Scheduled goals � • “Communicate to Earth at pre-specified times” Periodic goals � • “Take asteroid pictures for navigation every 2 days for 2 hours” Information-seeking goals � • “Ask the on-board navigation system for the thrusting profile” Continuous accumulation goals � • “Accumulate thrust with a 90% duty cycle” Default goals � • “When you have nothing else to do, point HGA to Earth” AI Planner Applications 14 7
DS1 Diversity of Constraints State/action constraints � • “To take a picture, the camera must be on.” Finite resources � • power True parallelism � • the ACS loops must work in parallel with the IPS controller Functional dependencies � • “The duration of a turn depends on its source and destination.” Continuously varying parameters � • amount of accumulated thrust Other software modules as specialized planners � • on-board navigator AI Planner Applications 15 DS1 Domain Description Language Temporal Constraints in DDL Command to EXEC in ESL 8
DS1 Plan Fragment DS1 RA Exec Status Tool 9
DS1 RA Ground Tools DS1 – Flight Experiments 17 th – 21 st 1999 RAX was activated and controlled the spacecraft � autonomously. Some issues and alarms did arise: Divergence of model predicted values of state of Ion � Propulsion System (IPS) and observed values – due to infrequency of real monitor updates. EXEC deadlocked in use. Problem diagnosed and fix � designed by not uploaded to DS1 for fears of safety of flight systems. Condition had not appeared in thousands of ground tests � indicating needs for formal verification methods for this type of safety/mission critical software. Following other experiments, RAX was deemed to have � achieved its aims and objectives. AI Planner Applications 20 10
DS 1 Experiment 2 Day Scenario DS 1 Summary Objectives and Capabilities 11
Earlier Spacecraft Planning Applications Deviser � NASA Jet Propulsion Lab � Steven Vere, JPL � First NASA AI Planner � 1982-3 � Based on Tate’s Nonlin � Added Time Windows � Voyager Mission Plans � Not used live � AI Planner Applications 23 Earlier Spacecraft Planning Applications T-SCHED � Brian Drabble, AIAI � BNSC T-SAT Project � 1989 � Ground-based plan � generation 24 hour plan uploaded and � executed on UoSAT-II AI Planner Applications 24 12
Some Other Practical Applications of AI Planning � Nonlin electricity generation turbine overhaul � Deviser Voyager mission planning demonstration � SIPE – a planner that can organise a …. brewery � Optimum-AIV • Integrating technologies • Integrating with other IT systems � O-Plan various uses – see next slides � Bridge Baron � Deep Space 1 – to boldly go… AI Planner Applications 25 Practical Applications of AI Planning – O-Plan Applications O-Plan has been used in a variety of realistic applications: Noncombatant Evacuation Operations (Tate, et al., 2000b) � Search & Rescue Coordination (Kingston et al., 1996) � US Army Hostage Rescue (Tate et al., 2000a) � Spacecraft Mission Planning (Drabble et al., 1997) � Construction Planning (Currie and Tate, 1991 and others) � Engineering Tasks (Tate, 1997) � Biological Pathway Discovery (Khan et al., 2003) � Unmanned Autonomous Vehicle Command and Control � O-Plan’s design was also used as the basis for Optimum-AIV � (Arup et al., 1994), a deployed system used for assembly, integration and verification in preparation of the payload bay for flights of the European Space Agency Ariane IV launcher. AI Planner Applications 26 13
Practical Applications of AI Planning – O-Plan Features A wide variety of AI planning features are included in O-Plan: � Domain knowledge elicitation � Rich plan representation and use � Hierarchical Task Network Planning � Detailed constraint management � Goal structure-based plan monitoring � Dynamic issue handling � Plan repair in low and high tempo situations � Interfaces for users with different roles � Management of planning and execution workflow AI Planner Applications 27 Common Themes in Practical Applications of AI Planning � Outer HTN “human-relatable” approach � Underlying rich time and resource constraint handling � Integration with plan execution � Model-based simulation and monitoring � Rich knowledge modelling languages and interfaces AI Planner Applications 28 14
Summary � Deep Space 1 and Remote Agent Experiment � Other Practical Applications of AI Planners � Common Themes AI Planner Applications 29 Literature � Deep Space 1 Papers Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and � Practice , chapter 19,. Elsevier/Morgan Kaufmann, 2004. Bernard, D.E., Dorais, G.A., Fry, C., Gamble Jr., E.B., Kanfesky, B., Kurien, J., � Millar, W., Muscettola, N., Nayak, P.P., Pell, B., Rajan, K., Rouquette, N., Smith, B., and Williams, B.C. Design of the Remote Agent experiment for spacecraft autonomy . Procs. of the IEEEAerospace Conf., Snowmass, CO, 1998. � http://nmp.jpl.nasa.gov/ds1/papers.html � Other Practical Planners Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and � Practice , chapter 22 and 23. Elsevier/Morgan Kaufmann, 2004 Tate, A. and Dalton, J. (2003) O-Plan: a Common Lisp Planning Web Service, � invited paper, in Proceedings of the International Lisp Conference 2003, October 12-25, 2003, New York, NY, USA, October 12-15, 2003. http://www.aiai.ed.ac.uk/project/ix/documents/2003/2003-luc-tate-oplan-web.pdf � AI Planner Applications 30 15
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