Universal-Executive and PLEXIL: Engine and Language for Robust Spacecraft Control and Operations

Verma, Vandi; Jónsson, Ari; Păsăreanu, Corina S.; Iatauro, Michael

doi:10.2514/6.2006-7449

Cited by 37 publications

(22 citation statements)

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“…Most executives mentioned in (Verma et al, 2005b) are associated with a specific modeling language. For example, the Universal Executive (Verma et al, 2006) is a general processor for the PLEXIL (Verma et al, 2005a) language. It allows to describe the execution flow as a number of hierarchically structured nodes consisting of a set of conditions when to execute and a body that describes what to execute.…”

Section: Online Executionmentioning

confidence: 99%

Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics

et al. 2018

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Model-based synthesis allows to generate controllers that achieve high-level tasks while satisfying certain properties of interest. However, when controllers are executed on concrete systems, several modeling assumptions may be challenged, jeopardizing their real applicability. This paper presents an integrated system for generating, executing and monitoring optimal-by-construction controllers for multi-robot systems. This system unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal controllers for high-level task planning, and runtime feedback on their feasibility. After presenting how our system orchestrates static and runtime components, we demonstrate its capabilities using the RoboCup Logistics League as testbed. We do not only present our final solution but also its chronological development, and draw some general observations for the development of OMT-based approaches.Abstract Model-based synthesis allows to generate controllers that achieve high-level tasks while satisfying certain properties of interest. However, when controllers are executed on concrete systems, several modeling assumptions may be challenged, jeopardizing their real applicability. This paper presents an integrated system for generating, executing and monitoring optimal-byconstruction controllers for multi-robot systems. This system unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal controllers for high-level task planning, and runtime feedback on their feasibility. After presenting how our system orchestrates static and runtime components, we demonstrate its capabilities using the RoboCup Logistics League as testbed. We do not only present our final solution but also its chronological development, and draw some general observations for the development of OMT-based approaches.

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Section: Online Executionmentioning

confidence: 99%

Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics

et al. 2018

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“…Labeled Transition State Analyzer We adopt the language of the Labeled Transition State Analyzer (LTSA) tool [5] for representing abstract plan action sequences. LTSA is a verification tool for concurrent systems.…”

Section: Xml Goal Parser and Abstract Plan Generatormentioning

confidence: 99%

Coordinated Data Acquisition on Sensor Webs

Morris

Dungan

Votava

et al. 2008

2008 IEEE Aerospace Conference

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This paper focuses on the application of automated planning, scheduling, and plan execution to Earth science campaigns, an organized sequence of observations and data analysis activities associated with an Earth science objective. We propose a layered architecture for coordinating sensing assets, and describe a process for automatically transforming science goals (such as monitoring a volcano or other Earth process) into sequences of data acquisitions.

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“…have to be concurrently controlled and activated in parallel. This is even more true for synchronous languages as well, where languages as PLEXIL (Verma et al, 2006) assume that the only source of the non-determinism comes from the environment, so they specify the plan as sets of conditional actions organized in a tree structure and relying on a reactive platform for execution, similarly to how conditional planners do. Our approach, however, follows the direction of reactive or continuous planning (e.g.…”

Section: Introductionmentioning

confidence: 99%

AMPLE: an anytime planning and execution framework for dynamic and uncertain problems in robotics

et al. 2018

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Acting in robotics is driven by reactive and deliberative reasonings which take place in the competition between execution and planning processes. Properly balancing reactivity and deliberation is still an open question for harmonious execution of deliberative plans in complex robotic applications. We propose a flexible algorithmic framework to allow continuous real-time planning of complex tasks in parallel of their executions. Our framework, named AMPLE, is oriented towards robotic modular architectures in the sense that it turns planning algorithms into services that must be generic, reactive, and valuable. Services are optimized actions that are delivered at precise time points following requests from other modules that include states and dates at which actions are needed. To this end, our framework is divided in two concurrent processes: a planning thread which receives planning requests and delegates action selection to embedded planning softwares in compliance with the queue of internal requests, and an execution thread which orchestrates these planning requests as well as action execution and state monitoring. We show how the behavior of the execution thread can be parametrized to achieve various strategies which can differ, for instance, depending on the distribution of internal planning requests over possible future execution states in anticipation of the uncertain evolution of the system, or over different underlying planners to take several levels into account. We demonstrate the flexibility and the relevance of our framework on various robotic benchmarks and real experiments that involve complex planning problems of different natures which could not be properly tackled by existing dedicated planning approaches which rely on the standard plan-then-execute loop.

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Universal-Executive and PLEXIL: Engine and Language for Robust Spacecraft Control and Operations

Cited by 37 publications

References 1 publication

Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics

Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics

Coordinated Data Acquisition on Sensor Webs

AMPLE: an anytime planning and execution framework for dynamic and uncertain problems in robotics

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