Model-based task planning system for a space laboratory environment

Sung-Do Chi; Bernard P. Zeigler; Francois E. Cellier

doi:10.1117/12.25424

1 February 1991 Model-based task planning system for a space laboratory environment

Sung-Do Chi, Bernard P. Zeigler, Francois E. Cellier

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25424
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

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 Ibrm of models at the various layers to support the predefined system objectives. Thus the model-based approach can he 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 autonoiious 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 multiformalism system organized through the use ni system morphisms to integrate related models.

Citation Download Citation

Sung-Do Chi, Bernard P. Zeigler, and Francois E. Cellier "Model-based task planning system for a space laboratory environment", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25424

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