The purpose of this taxonomy is to provide common definitions and a functional decomposition of the technology that is required for NASA's autonomous systems. The taxonomy serves as a framework for: (1) assessing the state of NASA's autonomous systems capability (workforce, technology, etc.) and (2) assessing the state of the art in autonomy technology

Badger, Julia M.

Feary, Michael S.

Fong, Terrence W.

Frank, Jeremy D.

Nesnas, Issa A.

NASA Technical Reports Server

2018%04%26(! 1!
Autonomous(Systems(Taxonomy(
NASA(Autonomous(Systems(Capability(Leadership(Team((AS:CLT)(
The(purpose(of(this(taxonomy(is(to(provide(common(definitions(and(a(functional(decom%
position(of(the(technology(that(is(required(for(NASA’s(autonomous(systems.(The(taxon%
omy(serves(as(a(framework(for:((1)(assessing(the(state(of(NASA’s(autonomous(systems(
capability((workforce,(technology,(etc.)(and((2)(assessing(the(state(of(the(art(in(autono%
my(technology.(The(taxonomy(will(be(reviewed(and(updated(as(needed(by(the(AS%CLT.(
Definitions(
•( Autonomy(is(the(ability(of(a(system(to(achieve(goals(while(operating(inde%
pendently(of(external(control([NASA(Technology(Roadmaps,(TA(4:(Robotics(and(
Autonomous(Systems,(2015].(Autonomy(is(not(the(same(as(artificial(intelligence(
(AI),(but(may(make(use(of(AI(methods.(Autonomy(is(not(the(same(as(automation,(
but(often(relies(on(automation(as(a(building(block.(
•( A(system(is(the(combination(of(elements(that(function(together(to(produce(the(
capability(required(to(meet(a(need.(The(elements(include(all(hardware,(software,(
equipment,(facilities,(personnel,(processes,(and(procedures(needed(for(this(pur%
pose.([NASA(Systems(Engineering(Handbook,(NASA(SP%2016%6105(Rev(2].(An(
autonomous*system(may(involve(any(combination(of(elements((e.g.,(humans(and(
machines)(and(is(not(limited(to(“unmanned(capability.”(
•( Autonomy(technology(consists(of(the(elements(and(methods(required(to(build,(
test,(certify,(and(operate(an(autonomous(system.(The(purpose(of(autonomy(
technology(is(not(primarily(about(making(a(system(adaptive,(intelligent,(or(“smart,”(
but(rather(to(enable(a(system(to(achieve(goals(while(operating(independently(of(
external(control.(
Notes(
•( The(order(of(Level(1(and(2(categories(does(not(imply(priority(or(importance.(
•( The(use(of(common(terms((e.g.,(“static(analysis”)(does(not(imply(that(the(taxon%
omy(fully(encompasses(a(particular(domain,(field,(or(technology.(If(not(explicitly(
stated,(common(terms(should(be(understood(to(apply(only(in(the(context(of(au%
tonomous(systems((e.g.,(“static(analysis(for(autonomous(systems”).(
•( The(taxonomy(is(understood(to(apply(to(both(single(and(multiple(assets.(
•( Many(autonomous(capabilities(require(multiple(Level(2(categories.(For(example,(
autonomous(surface(navigation(may(include(use(of(sensing(and(perception((1.1),(
state(estimation(and(monitoring((1.2),(knowledge(and(model(building((1.3),(haz%
ard(assessment((1.4),(motion(planning((2.3),(and(execution(and(control((2.4).(
System(health(management(may(similarly(make(use(of(sensing(and(perception(
(1.1),(state(estimation(and(monitoring((1.2),(knowledge(and(model(building((1.3),(
event(and(trend(identification((1.5),(anomaly(detection((1.6),(fault(diagnosis(and(
prognosis((2.5),(and(fault(response((2.6).((
https://ntrs.nasa.gov/search.jsp?R=20180003082 2019-08-31T16:37:01+00:00Z
2018%04%26(! 2!
1.0$$Situation$and$$
Self$Awareness(
2.0$$Reasoning$and$$
Acting$
3.0$$Collaboration$and$
Interaction$
4.0$$Engineering$and$$
Integrity$
1.1(( Sensing(and(Perception( 2.1(( Mission(Planning(and(Scheduling$
3.1(( Joint(Knowledge(and((
Understanding($
4.1(( Verification(and((
Validation$
1.2(( State(Estimation((
and(Monitoring(
2.2(( Activity(and(Resource(
Planning(and(Scheduling$
3.2(( Behavior(and(Intent((
Prediction$ 4.2(( Test(and(Evaluation$
1.3(( Knowledge(and((
Model(Building( 2.3(( Motion(Planning$
3.3(( Goal(and(Task((
Negotiation$ 4.3(( Operational(Assurance($
1.4(( Hazard(Assessment( 2.4(( Execution(and(Control$ 3.4(( Operational(Trust((Building$ 4.4(( Modeling(and(Simulation$
1.5(( Event(and(Trend((
Identification(
2.5(( Fault(Diagnosis(and(
Prognosis$ $ 4.5(( Architecture(and(Design$
1.6(( Anomaly(Detection( 2.6(( Fault(Response$ $ $
( 2.7(( Learning(and(Adapting$ $ $
(! !
2018%04%26(! 3!
1.0$$Situation$and$$
Self$Awareness$
Interrogation,(identification,(and(evaluation(of(
both(the(state(of(the(environment(and(the(state(
of(the(system.((
Challenges:$$$
•( Data(fusion(from(heterogeneous(sensors(
with(varying(uncertainties(
•( Multi%rate(asynchronous(sensor%data(
sources(
•( Interpretation(and(abstraction(of(knowledge(
from(raw,(noisy(and(potentially(faulty(data(
•( Computational(resources(and(storage(for(
managing(large(data(streams(
•( Information(from(multiple(and(potentially(
some(non%cooperative(assets(
1.1((Sensing(and((
Perception(
Collection(and(processing(of(information(inter%
nal(and(external(to(the(system(from(sensors(
and(instruments.(
Examples:((
•( Three%dimensional(sensing(and(perception(
from(stereo(vision(or(LIDARs(
•( Force(and(tactile(sensing((
•( Science%instrument(sensing((e.g.(spec%
trometers)(that(is(eventually(used(in(deci%
sion%making(
•( Tools(that(assess(data(validity(and(manage(
uncertainty(
•( System%health(and(housekeeping(sensors(
•( Space%suit(sensors(that(track(astronauts’(
motions(! !
2018%04%26(! 4!
1.2((State(Estimation((
and(Monitoring(
Estimation(of(internal(and(external(states(from(
raw(or(processed(inputs(generated(by(multiple(
sensors/instruments,(ascertainment,(and(con%
tinual(comparison(to(expected(states.((
Examples:$$
•( Pose(estimation(for(a(rover(
•( Pose(estimation(for(an(in%space(robotic%
assembly(arm(
•( Velocity(estimation(for(an(aerial(vehicle(
•( Oxygen%level(estimation(and(monitoring(
•( Battery(health%state(estimation(
•( Wind%speed(estimation(for(a(balloon((
explorer(
!
(see!also!2.5)(
1.3((Knowledge(and((
Model(Building(
Creation(of(information(sources(about(the(envi%
ronment(or(the(system(from(sensing,(percep%
tion(and(human(interaction(that(can(be(queried.(
(
Examples:$$
•( Fusion(of(multi%sensor(data(over(time(to(
generate(physical(or(dynamical(models(of(
the(system(or(environment.(
•( Topographic(mapping(of(a(planetary(surface(
from(multiple(surface(and/or(near%surface(
assets(
•( Atmospheric%modeling(for(aerial(mobility(
•( Ontologies(for(natural%language(processing(
•( Ontologies(for(object(manipulation(
1.4((Hazard(Assessment(
Evaluation(of(whether(the(state(of(the(environ%
ment,(the(state(of(the(system,(and/or(their(in%
teraction(pose(a(threat(to(the(safety(of(actions(
(or(inactions)(that(are(contemplated,(which(
could(compromise(the(system(or(mission.((
Examples:$$
•( Terrain(hazard(assessment(for(spacecraft(
planetary%landing(
•( Traversability(analysis(for(surface(mobility(
•( Collision%risk(assessment(of(aerial(mobility((
•( Safety%assessment(for(a(life%support(system!!
(see!also!2.5)(! !
2018%04%26(! 5!
1.5((Event(and(Trend((
Identification(
Analyses(of(data((about(environment(or(sys%
tem)(to(identify(events(and(trends(that(may(af%
fect(future(state,(operations,(or(decision%
making.(
Examples:$$
•( Characterization(of(system(performance((
•( Prediction(of(weather(events(
•( Prediction(of(air%traffic(
•( Science(data(analytics(for(decision(making(
!
(see!also!1.6,!2.5)(
1.6((Anomaly(Detection(
(
(
Determination(that(the(environment(or(system(
does(not(exhibit(expected(characteristics.((((
(
$(
Examples:$$
•( Detection(of(abnormal(behavior(in(a(compo%
nent(or(subsystem(
•( Identification(of(a(weather(anomaly(
•( Identification(of(excessive(rover(sinkage(in(
loose(sandy(terrain((((
!
(see!also!1.5,!2.5)(!! !
2018%04%26(! 6!
2.0$$Reasoning$and$$
Acting$
(
Analysis(and(evaluation(of(situations((present,(
future(or(past)(for(decision(making(and(for(di%
recting(actions(to(achieve(a(goal(or(a(mission.(
(
Challenges:$
•( Appropriately(and(robustly(responding(in(the(
presence(of(uncertainties(and(faults.(
•( Reasoning(across(strategic((mission)(and(
tactical((activity)(timescales.(
•( Providing(theoretical(guarantees(and(trade%
offs(between(completeness(/(optimality(and(
response(time.(
•( Synchronization(among(reasoning(compo%
nents(that(have(different(latency(or(response(
times.(
•( Integration(of(planning,(execution,(control(
and(system(health(management.(
•( Integration(of(continuous%time((e.g.(motion(
planning)(and(discrete%time(domain((activity(
planning)(technologies.(
•( Development(of(approaches(that(are(com%
patible(with(the(processing(characteristics(
(CPU,(memory,(architecture,(etc)(of(flight(
processors.(
•( Presenting(alternatives(and(recommenda%
tions(to(humans.(((
•( Taking(input(from(humans((new(constraints,(
request(for(alternatives,(what%ifs).(! !
2018%04%26(! 7!
2.1((Mission(Planning((
and(Scheduling(
(
Selection(of(goals,(objectives(and(activities(to(
achieve(a(mission,(subject(to(the(situation,(and(
constraints.(
Examples:$
•( Selection(of(science(observations((e.g.(for(
satellites(and(UAVs)(((
•( Replanning(/(rescheduling(after(unexpected(
event((e.g.(opportunistic(science,(respond%
ing(to(changing(weather(conditions)(
•( Replanning(/(rescheduling(after(system(fault(
(e.g.(choosing(new(observation(after(instru%
ment(fails,(choosing(new(objectives(after(
mechanical(system(fault(limits(motion,(etc.)(
•( Mixed(initiative(planning/scheduling(of(hu%
man(spacecraft(activities(
!
(see!also!2.2,!2.3,!3.3)(
2.2((Activity(and((
Resource(Planning((
and(Scheduling(
Selection(and(ordering(of(activities(to(be(per%
formed(while(managing(system(resources(to(
achieve(mission(goals.(
Examples:$
•( Power(/(energy(consumption(and(production(
planning(/(scheduling(
•( Planning(/(scheduling(given(constraints,(
such(as(fuel,(life(support(system(consuma%
bles((air,(water),(spacecraft(memory,(com%
munication(link((availability,(bandwidth,(la%
tency),(etc.(
•( Planning(/(scheduling(given(consumables(for(
science(ops((e.g.(#(of(sample(containers)(
•( Mixed(initiative(planning/scheduling(of(hu%
man(spacecraft(activities((
•( Piloted(aircraft(decision(support((
!
(see!also!2.1,!3.3)(! !
2018%04%26(! 8!
2.3((Motion(Planning(
Generation(or(modification(of(a(path(or(trajecto%
ry(to(reach(a(desired(target(physical(location(or(
configuration(subject(to(system(and(environ%
ment(constraints.(
Examples:$
•( Robotic(arm/manipulator(kinemat%
ics/dynamic(planning(
•( Robot(surface(motion(planning(
•( Spacecraft(attitude(/(trajectory(planning(
•( Aircraft(path(planning(
(
(see!also!2.1)!
2.4((Execution(and((
Control(
Change(of(system(state(to(meet(mission(goals(
and(objectives,(according(to(a(plan(or(sched%
ule,(subject(to(control(authority(and(permission,(
and(based(on(mission(phase,(environment(or(
system(state.(
Examples:$$
•( Reactive(control((e.g.(aircraft(see%and%avoid,(
rover(hazard(avoidance,(fault(response).(
•( Discrete(control(/(scripting(/(mode(control.(
•( Contingent(control((e.g.(integration(of(fault(
management(and(planning/scheduling)(((
•( Subsystem(procedure(and(automation(con%
trol(and(situational(awareness(for(human(
operator.(
(
(see!also!1.2,!1.4,!2.2,!2.3,!2.5,!4.5)!
2.5((Fault(Diagnosis((
and(Prognosis(
Identification(of(faults,(prediction(of(future(
faults,(and(assessment(of(system(capability(as(
a(consequence(of(those(faults.(
Examples:$$
•( UAV(/(Spacecraft(battery(prognostics(
•( Structural(health(monitoring(
•( Spacecraft(control(moment(gyro(monitoring(
•( Cryogenic(storage(leak(detection((inter%
nal/external).(
•( Aircraft(engine(health(monitoring(
(
(see!also!1.2,!1.5,!1.6)!! !
2018%04%26(! 9!
2.6((Fault(Response( Restoration(of(nominal(or(best(possible(system(configuration(and(operations(after(a(fault.((
Examples:$$
•( Spacecraft(fault(impacts(reasoning(
•( Power(system(reconfiguration(
•( Life%support(system(reconfiguration(
•( Robot(arm(reconfiguration(
•( Aircraft(emergency(landing(planner((
(
(see!also!2.1)(
2.7((Learning(and((
Adapting(
Adapting(to(changing(environments(and(condi%
tions(without(explicit(re%programming(using(
knowledge(collected(from(the(past,(or(from(oth%
er(systems’(experiences.(
Examples:$$
•( Learning(planning/scheduling(models(
•( Learning(fault(models(
•( Learning(anomalies(
(
(see!also!1.2,!1.5,!1.6,!4.1,!4.3)!! ! !
2018%04%26(! 10!
3.0$$Collaboration$and$
Interaction$
Two(or(more(elements(or(systems(working(to%
gether(to(achieve(a(defined(outcome.((
Challenges:$$
•( Acquisition(of(adequate(data(needed(for(un%
derstanding(collaboration(
•( Integration(of(information(across(activities(
and(elements(
•( Understanding(of(collaboration(and(interac%
tion(requirements(for(mixed(initiative(sys%
tems(
•( Coding(of(collaboration(information(require%
ments(
•( Prognostics(data(acquisition(and(analysis(
•( Human%machine(interfaces,(particularly(for(
complex,(non%deterministic(systems(
•( Understanding(of(communication(across(dif%
ferent(modalities((e.g.(gestures)((
•( Limited(bandwidth(for(collaboration(that(re%
quires(sharing(of(large(data(
•( Response(prediction(and(limitations(for(alert%
ing(and(interaction(
•( Predicting(activities(and(estimating(confi%
dence(across(activities(and(elements((
•( Prediction(of(precursors(for(rare(events(
3.1((Joint(Knowledge((
and(Understanding((
Collection,(assembly,(sharing,(and(interpreta%
tion(of(information(and(intent(among(elements(
to(solve(problems(and(plan(actions/responses.((
Examples:$
•( Management(of(aircraft(and(spacecraft(fault(
diagnostic(and(prognostics(
•( Speech(recognition(interfaces((including(
non%verbal(attributes(such(as(prosody)(for(
aircraft(flight(management(
•( Integration(of(information(across(activities(
and(systems(! !
2018%04%26(! 11!
3.2((Behavior(and(Intent((
Prediction(
Forecasting(the(actions(of(other(elements(or(
systems(to(support(collaboration(and(interac%
tion.((
Examples:$
•( Workload(estimation(across(mixed(initiative(
systems(
•( Integration(of(information(for(prognostic(sys%
tem(prediction(
•( Response(prediction(and(limitations(for(alert%
ing(and(interaction((e.g.(aircraft(“Detect(And(
Avoid”(alerting)(
•( Confidence(estimation(for(predictions(across(
activities(and(elements((e.g.(weather(events)(
•( Prediction(for(precursors(for(rare(events(
3.3((Goal(and(Task((
Negotiation(
Agreement(on(current(and(future(activities,(
their(priorities,(and(their(disposition(among(el%
ements(or(systems.(
Examples:$
•( Space(mission(planning(systems((
•( Airline(Operations(Center((also(known(as(
Airline(Operations(Control(Center)(
(
(see!also!2.1)(
3.4((Operational(Trust((
Building(
Assurance(that(the(system(is(operating(in(a(
manner(consistent(with(expectations(of(all(ele%
ments.(
Examples:$
•( Aircraft(Flight(Mode(Annunciators((FMA)(
•( Aircraft(navigation(performance(monitoring(!! !
2018%04%26(! 12!
4.0$$Engineering$and$$
Integrity(
Design(considerations,(processes,(and(proper%
ties(necessary(to(implement(autonomy.((
Challenges:$
•( Characterizing(system(behavior(when(the(
operating(environment(is(largely(unknown(
and/or(the(system(can(adapt(to(its(surround%
ings(during(operations.(
•( Distinguishing(between(incipient(faults(and(
slow(degradation(in(system(performance.(
•( Architecting(and(assessing(complex(interac%
tions(between(humans(and(machines.(
•( Adjusting(engineering(methodologies(to(
support(increases(in(numbers,(capabilities,(
and(complexity.((
4.1((Verification(and((
Validation(
Determination(that(an(autonomous(system(
meets(the(requirements((verification)(and(fulfills(
its(intended(purpose((validation).(
Examples:$
•( Scalable(formal(methods(for(adaptive(and(
uncertain(systems((i.e.,(model(checking,(
theorem(proving,(static(analysis)((
•( Model(validation(frameworks((
•( Work(analysis(and(operations(concepts(for(
autonomous(behaviors($
•( Uncertainty(propagation(analysis$
4.2((Test(and(Evaluation( Characterization(of(autonomous(system(func%tionality(and(capabilities.(
Examples:$$
•( Automated(systems(testing((
•( Model%based(testing(and(accreditation((
•( Statistical(edge%case(testing(approaches((
•( Non%destructive(testing(
•( Testbeds(for(assessment(of(autonomous(
systems(in(laboratory(and(operational(set%
tings.(! !
2018%04%26(! 13!
4.3((Operational((
Assurance((
Confirmation,(before(or(during(operations,(that(
an(autonomous(system(is(operating(safely,(ef%
ficiently,(and(in(a(manner(that(does(not(ad%
versely(affect(the(operation(of(other(systems.((
Examples:$$
•( Runtime(monitoring((
•( Certifications(for(adaptive(systems(
•( Model(invalidation((
•( Operational(approval(method(for(complex(
integrated(systems(
•( Risk(management(approaches(
4.4((Modeling(and((
Simulation(
Representation(of(an(autonomous(system(
and/or(its(operation(for(use(in(system(design,(
evaluation,(or(operational(assessment.(
Examples:$$
•( Monte(Carlo(techniques((
•( Immersive(environments((
•( Standardized(simulation(infrastructure(and(
frameworks$
•( Model%Based(Systems(Engineering$
4.5((Architecture(and((
Design(
Methods(and(tools(for(system(composition(and(
development(that(promote(the(existence(and(
support(the(assessment(of(attributes(of(the(
system,(such(as(performance,(resilience,(ro%
bustness,(scalability,(safety,(and(reliability.(
Examples:$$
•( Correct%by%design(controller(synthesis((
•( Scalable(frameworks((
•( Contract%based(design((
•( Fault%tolerant(design((
•( Distributed(communications(infrastructure(
$
$ $
2018%04%26(! 14!
Change'Log'
'
Change'Number' Date' Description'
1( 2018%04%26( Initial(release(
'


Autonomous Systems Taxonomy

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