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A situated reasoning architecture for space-based repair and replace tasksSpace-based robots need low level control for collision detection and avoidance, short-term load management, fine-grained motion, and other physical tasks. In addition, higher level control is required to focus strategic decision making as missions are assigned and carried out. Reasoning and control must be responsive to ongoing changes in the environment. Research aimed at bridging the gap between high level artificial intelligence (AI) planning techniques and task-level robot programming for telerobotic systems is described. Situated reasoning is incorporated into AI and Robotics systems in order to coordinate a robot's activity within its environment. An integrated system under development in a component maintenance domain is described. It is geared towards replacing worn and/or failed Orbital Replacement Units (ORUs) designed for use aboard NASA's Space Station Freedom based on the collection of components available at a given time. High level control reasons in component space in order to maximize the number operational component-cells over time, while the task-level controls sensors and effectors, detects collisions, and carries out pick and place tasks in physical space. Situated reasoning is used throughout the system to cope with component failures, imperfect information, and unexpected events.
Document ID
19890017212
Document Type
Conference Paper
Authors
Bloom, Ben (Mitre Corp. McLean, VA, United States)
Mcgrath, Debra (Mitre Corp. McLean, VA, United States)
Sanborn, Jim (Mitre Corp. McLean, VA, United States)
Date Acquired
September 6, 2013
Publication Date
April 1, 1989
Publication Information
Publication: NASA. Goddard Space Flight Center, The 1989 Goddard Conference on Space Applications of Artificial Intelligence
Subject Category
CYBERNETICS
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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NameType 19890017212.pdf STI