Principles of Autonomy and Decision Making Brian c. williams 16.410/16413 December 10th 2003
Principles of Autonomy and Decision Making 1 Brian C. Williams 16.410/16.413 December 10th, 2003
Ou utline Objectives Agents and Their building blocks Principles for Building Agents Modeling formalisms Algorithmic Principles Building an agent The Mars exploration rover
Outline Outline • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover
Course objective I Principles of agents 16.410/13: To learn the modeling and algorithmic building blocks for creating reasoning and learning agents To formulate reasoning problems To describe. analyze and demonstrate reasoning algorithms To model and encode knowledge used by reasoning algorithms
Course Objective 1: Principles of Agents Course Objective 1: Principles of Agents 16.410/13: To learn the modeling and algorithmic building blocks for creating reasoning and learning agents: • To formulate reasoning problems. • To describe, analyze and demonstrate reasoning algorithms. • To model and encode knowledge used by reasoning algorithms. 16.410/13: To learn the modeling and algorithmic building blocks for creating reasoning and learning agents: • To formulate reasoning problems. • To describe, analyze and demonstrate reasoning algorithms. • To model and encode knowledge used by reasoning algorithms
Course Objective 2 Building agents 16.413: To appreciate the challenges of building a state of the art autonomous explorer To model and encode knowledge needed to solve a state of the art challenge To work through the process of autonomy systems integration To assess the promise, frustrations and challenges of using(b)leading art technologies
Course Objective 2: Building Agents Course Objective 2: Building Agents 16.413: To appreciate the challenges of building a state of the art autonomous explorer: • To model and encode knowledge needed to solve a state of the art challenge. • To work through the process of autonomy systems integration. • To assess the promise, frustrations and challenges of using (b)leading art technologies. 16.413: To appreciate the challenges of building a state of the art autonomous explorer: • To model and encode knowledge needed to solve a state of the art challenge. • To work through the process of autonomy systems integration. • To assess the promise, frustrations and challenges of using (b)leading art technologies
Ou utline Objectives Agents and Their Building Blocks Principles for Building Agents Modeling formalisms Algorithmic Principles Building an agent The Mars exploration rover
Outline Outline • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover
Mission-Oriented agents CourtesyNasajPl-cAlteCh.http://www.jplnasagov Our vision in NASa is to open the Space Frontier. We must establish a virtual presence, in space, on planets, in aircraft and spacecraft. -Daniel S Goldin, NASA Administrator, May 29, 1996
Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov. ``Our vision in NASA is to open the Space Frontier . . . We must establish a virtual presence, in space, on planets, in aircraft and spacecraft.’’ - Daniel S. Goldin, NASA Administrator, May 29, 1996 Mission-Oriented Agents Mission-Oriented Agents
Agent Building blocks Activity Planning Execution/Monitoring
Agent Building Blocks Agent Building Blocks • Activity Planning • Execution/Monitoring • Activity Planning • Execution/Monitoring
1. Engineering Agents 7 year cruise Affordable missions 150-300 ground operators 1 billion S 1 50 million S ·7 years to 2 year build build 0 ground ops Cassini Maps Titan CourtesyNasa/jpl-calTech.http://www.jpl.nasagov
Cassini Maps Titan • 7 year cruise • ~ 150 - 300 ground operators •~ 1 billion $ • 7 years to build 1. Engineering Agents •150 million $ •2 year build • 0 ground ops Affordable Missions Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov
Houston, we have a problem Quintuple fault occurs three shorts tank-line and pressure jacket burst, panel flies off Diagnosis Mattingly works in ground simulator to identify new sequence handling severe power limitations Planning resource Allocation Mattingly identifies novel reconfiguration, exploiting LEM batteries for power Reconfiguration and repair Swagger lovell work on s13-62-934 Apollo 13 emergency rig ImagetakenfromNasa'Swebsitehttp://www.nasa.gov ithium hydroxide unit Executi
Houston, we have a problem ... Image taken from NASA’s web site: http://www.nasa.gov. • Quintuple fault occurs (three shorts, tank-line and pressure jacket burst, panel flies off) – Diagnosis. • Mattingly works in ground simulator to identify new sequence handling severe power limitations. – Planning & Resource Allocation • Mattingly identifies novel reconfiguration, exploiting LEM batteries for power. – Reconfiguration and Repair • Swaggert & Lovell work on Apollo 13 emergency rig lithium hydroxide unit. – Execution
Agent Building blocks Activity Planning ° Execution/ Monitoring Diagnosis Repair Scheduling Resource allocation
Agent Building Blocks Agent Building Blocks • Activity Planning • Execution/Monitoring • Diagnosis • Repair • Scheduling • Resource Allocation • Activity Planning • Execution/Monitoring • Diagnosis • Repair • Scheduling • Resource Allocation