Model-based task planning system for a space laboratory environmentThis paper describes the design of a model-based autonomous planning system that will enable robots to manage a space-borne chemical laboratory. In a model-based planning system, knowledge is encapsulated in the form of models at the various layers to support the predefined system objectives. Thus the model-based approach can be considered as an extended planning paradigm which is able to base its planning, control, diagnosis, repair, and other activities on a variety of objectives-related models. A System Entity Structure/Model Base framework is employed to support autonomous system design through the ability to generate a family of planning alternatives as well as to build hierarchical event-based control structures. The model base is a multilevel, multiabstraction, and multiformalism system organized through the use of system morphisms to integrate related models.
Document ID
19920069092
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chi, Sung-Do (NASA Ames Research Center Moffett Field, CA, United States)
Zeigler, Bernard P. (NASA Ames Research Center Moffett Field, CA, United States)
Cellier, Francois (Arizona, University Tucson, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Cybernetics
Meeting Information
Meeting: Cooperative Intelligent Robotics in Space