Model-Based Task Planning System for a Space Laboratory
Environment
Abstract
This 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. We employ a System Entity Structure/Model Base framework 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 multi-level, multi-abstraction, and multi-formalism system organized
through the use of system morphisms to integrate related models.
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Last modified: January 16, 2006 -- © François Cellier