MIT 16 412J - Reactive Planning of Hidden States (9 pages)

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Reactive Planning of Hidden States



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Reactive Planning of Hidden States

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Pages:
9
School:
Massachusetts Institute of Technology
Course:
16 412j - Cognitive Robotics
Cognitive Robotics Documents

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RMPL Model based Program Reactive Planning of Hidden States in Large State Spaces Through Decomposition and Serialization Control Program Executes concurrently Preempts non deterministic choice A l u timing A at l location Brian C Williams Environment Model Joint with Seung H Chung T O W N E O HOME Landing Site ABC COLLECTION POINT Enroute Selects consistent threads of activity from redundant methods Control Sequencer Schedules and Dispatches Activities Dynamically location estimates location goals Tracks Mode RENDEZVOUS Diverge Landing Site XYZ Kirk Model based Executive SCIENCE AREA 1 SCIENCE AREA 1 Finds least Mode Deductive Controller Estimation Reconfiguration location cost paths SCIENCE AREA 3 Executive pre plans activities Observations pre plans paths dynamically schedules Tsmardinos et al 16 412J 6 834J March 16 th 2005 Outline Commands Plant DS 1 Attitude Control System The need for model based reactive planning The Burton model based reactive planner Flight Computer PDE Data Commands SRU He N2H4 PDU z facing thrusters BC x facing thrusters GDE PASM DSEU 1553 bus CSAIL Massachusetts Institute of Technology CSAIL Massachusetts Institute of Technology How do we reconfigure a valve Remote Terminal Computer Mode Reconfiguration Driver Bus Control Remote Terminal PEPE Valve Configuration Goal Valve Goal Interpreter Driver Device modes are changed through indirect commanding Communication paths are established by reconfiguring other devices Goal State The task of reconfiguring devices in the proper order generalizes statespace planning to handle indirect effects State Estimate Current To achieve reactivity all possible plans for all possible goal states should be pre compiled a generalization of universal plans To achieve compactness we decompose these universal plans according to a goal sub goal hierarchy CSAIL Livingstone reconfigured modes using one step commands But how does the flight computer really open a valve Requires turning on device drivers Requires



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