Rational physical agent reasoning beyond logic

The paper addresses the problem of defining a theoretical physical agent framework that satisfies practical requirements of programmability by non-programmer engineers and at the same time permitting fast realtime operation of agents on digital computer networks. The objective of the new framework is to enable the satisfaction of performance requirements on autonomous vehicles and robots in space exploration, deep underwater exploration, defense reconnaissance, automated manufacturing and household automation

Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects

While monolithic satellite missions still pose significant advantages in terms of accuracy and operations, novel distributed architectures are promising improved flexibility, responsiveness, and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite networks or heterogeneous constellations hybridizing small-spacecraft nodes with highperformance satellites are becoming feasible and advantageous alternatives requiring the adoption of new operation paradigms that enhance their autonomy. While autonomy is a notion that is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic in Distributed Satellite Systems (DSS). In this context, this paper focuses on the motivations for system-level autonomy in DSS and justifies its need as an enabler of system qualities. Autonomy is also presented as a necessary feature to bring new distributed Earth observation functions (which require coordination and collaboration mechanisms) and to allow for novel structural functions (e.g., opportunistic coalitions, exchange of resources, or in-orbit data services). Mission Planning and Scheduling (MPS) frameworks are then presented as a key component to implement autonomous operations in satellite missions. An exhaustive knowledge classification explores the design aspects of MPS for DSS, and conceptually groups them into: components and organizational paradigms; problem modeling and representation; optimization techniques and metaheuristics; execution and runtime characteristics and the notions of tasks, resources, and constraints. This paper concludes by proposing future strands of work devoted to study the trade-offs of autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that consider some of the limitations of small spacecraft technologies.Postprint (author's final draft

Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations

Un module de gestion de mission autonome pour des satellites d'observation de la Terre

International audienceThis paper presents an autonomous controller developed for managing the activities of a new generation of Earth Observing Satellites (EOSs). This controller uses a hierarchy of reactors as in previously existing architectures, and it exploits specific r easoning p rocedures a t t he l evel o f e ach r eactor to get fast deliberations on-board. It is able to take into account the arrival of urgent acquisition requests, late cloud predictions , and information about the real volume of data, while meeting several operational requirements from the end-users

Random Finite Set Theory and Optimal Control of Large Collaborative Swarms

Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's configuration. This work generalizes the swarm state using Random Finite Set (RFS) theory and solves the control problem using Model Predictive Control (MPC) to overcome the aforementioned challenges. Computationally efficient solutions are obtained via the Iterative Linear Quadratic Regulator (ILQR). Information divergence is used to define the distance between the swarm RFS and the desired swarm configuration. Then, a stochastic optimal control problem is formulated using a modified L2^2 distance. Simulation results using MPC and ILQR show that swarm intensities converge to a target destination, and the RFS control formulation can vary in the number of target destinations. ILQR also provides a more computationally efficient solution to the RFS swarm problem when compared to the MPC solution. Lastly, the RFS control solution is applied to a spacecraft relative motion problem showing the viability for this real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731

Nanosat Intelligent Power System Development

NASA Goddard Space Flight Center is developing a class of satellites called nano-satellites. The technologies developed for these satellites will enable a class of constellation missions for the NASA Space Science Sun-Earth Connections theme and will be of great benefit to other NASA enterprises. A major challenge for these missions is meeting significant scientific- objectives with limited onboard and ground-based resources. Total spacecraft power is limited by the small satellite size. Additionally, it is highly desirable to minimize operational costs by limiting the ground support required to manage the constellation. This paper will describe how these challenges are met in the design of the nanosat power system. We will address the factors considered and tradeoffs made in deriving the nanosat power system architecture. We will discuss how incorporating onboard fault detection and correction capability yields a robust spacecraft power bus without the mass and volume penalties incurred from redundant systems and describe how power system efficiency is maximized throughout the mission duration

Towards adaptive multi-robot systems: self-organization and self-adaptation

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites

The low-cost and short-lead time of small satellites has led to their use in science-based missions, earth observation, and interplanetary missions. Today, they are also key instruments in orchestrating technological demonstrations for On-Orbit Operations (O 3 ) such as inspection and spacecraft servicing with planned roles in active debris removal and on-orbit assembly. This paper provides an overview of the robotics and autonomous systems (RASs) technologies that enable robotic O 3 on smallsat platforms. Major RAS topics such as sensing & perception, guidance, navigation & control (GN&C) microgravity mobility and mobile manipulation, and autonomy are discussed from the perspective of relevant past and planned missions