Optimal csPs and Conflict-directed A* Brian c. williams 16412J/6834J March 17th 2004 courtesy of JPL Brian C Williams, copyright 2000 Mode estimation Mode reconfiguration Select a most likely set of Select a least cost set of component modes that are commandable component consistent with the model and modes that entail the current observations nq goal, and are consistent System Model State estimates e goals Track likely Tracks least plant state cost goal states arg min P(Y Obs arg max R(Y) s.t.P(X,Y)AO(m) is consistent s.t.Y(X, Y)entails G(X,Y) ons pi s.t. Y(X, Y) is consistent3/17/2004 copyright Brian Williams, 2002 1 courtesy of JPL Optimal CSPs and Conflict-directed A* Brian C. Williams 16.412J/6.834J March 17th, 2004 Brian C. Williams, copyright 2000 3/17/2004 copyright Brian Williams, 2002 2 System Model Control Program RMPL Model-based Program Control Sequencer Deductive Controller Observations Commands Plant Titan Model-based Executive State estimates State goals Mode Estimation Mode Reconfiguration Tracks likely plant states Tracks least cost goal states z Executes concurrently z Preempts z Queries (hidden) states z Asserts (hidden) state Closed Valve Open Stuck open Stuck closed Open Close 0. 01 0. 01 0.01 0.01 inflow = outflow = 0 Generates target goal states conditioned on state estimates Mode Reconfiguration: Select a least cost set of commandable component modes that entail the current goal, and are consistent Mode Estimation: Select a most likely set of component modes that are consistent with the model and observations arg min Pt (Y| Obs) s.t. Ψ(X,Y) ∧ O(m’) is consistent arg max Rt (Y) s.t. Ψ(X,Y) entails G(X,Y) s.t. Ψ(X,Y) is consistent