2007
Verification Procedure for Generalized Goal-Based Programs
ABSTRACT -
Safety verification of fault-tolerant control systems is essential for the success of autonomous robotic systems. A control architecture called Mission Data System, developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper the development of a method for converting a goal network control program into a hybrid system is given and a process for converting logic associated with the goal network into transition conditions for the hybrid automata is developed. The resulting hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task and goal network is designed, converted to hybrid automata, and verified using symbolic model checking software for hybrid systems.
AIAA Infotech@Aerospace Conference.
Rohnert Park, CA.
May
Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control System
ABSTRACT -
Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System (MDS), developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is simulated in MDS and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
San Diego, CA.
Oct/Nov
Goal-Based Operations: An Overview
ABSTRACT - Operating robotic space missions via time-based command sequences has become a limiting factor in the exploration, defense,
and commercial sectors. Command sequencing was originally designed for comparatively simple and predictable missions, with safe-
mode reponses for most faults. This approach has been increasingly strained to accommodate today's more complex missions, which
require advanced capabilities like automomous fault diagnosis and response, vehicle mobility with hazard avoidance, opportunistic
science observations, etc. Goal-based operation changes the fundamental basis of operations from imperative command sequences
to declarative specifications of operational intent, termed goals. Execution based on explicit intent simplifies operator
workload by focusing on what to do rather than how to do it. The move toward goal-based operations, which has already begun in
some space missions, involves changes and opportunities in several places: operational processes and tools, human interface
design, planning and scheduling, control architecture, fault protection, and verification and validation. Further, the need
for future interoperation among multiple goal-based systems suggests that attention be given to areas for
standardization. This overview paper defines the concept of goal-based operations, reviews a history of steps in this
direction, and discusses the areas of change and opportunity through comparison with the prevalent operational paradigm
of command sequencing.
AIAA Infotech@Aerospace Conference.
Rohnert Park, CA.
May
Model-Based Engineering Design Pilots at JPL
ABSTRACT - This paper discusses two recent formulation phase Model-Based Engineering Design pilot projects at the Jet Propulsion Laboratory. It describes how model-based functional and state analyses were synthesized and integrated with system performance simulation and mission planning then piloted in the formulation phase of two deep space missions.
IEEE Aerospace Conference.
Big Sky, MT.
March
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