System RMPL Activity plan model Kirk Planner / Scheduler Plan Runner Schedulable / consistent planre-plan request commandsstatus update Compiler Converter RMPL program HCA Model RRTPN graph Robot Interface Autonomous Vehicles Optimal RRTPN Search Fast planning Scheduling

Locations in RMPL/TPN can grow RRTs in effort to satisfy the location constraints Tell(Robot.location = C) (start) (goal) RRT If…Path Found -Return total time to travel from start to goal -Return cost of path If…No Path Found -Add a Tell( NOT( Blimp = location)) constraint -Or if total time exceeds bound Minimum and Maximum time to get to Location C. That is, it takes at least 95 units of time to get to location C and at most 105 units of time to get to location C total time = 100 [95,105] Tell(Not(Robot.location = C)) [95,105] Signal that Robot cannot be going to any other location during this time interval RRTPN RRTTPN planning model Location constraints Memory-bounded optimal plan search

Activity: ANW1. Apply_Controls ( control inputs ) [l,u] Tell(ANW1.location = daycare) [L,U] RRTPN RRTTPN planning model Location constraints Memory-bounded optimal plan search

Location Constraints 2. Simultaneously execute on-board activities and navigate 1. Make a robot go to a location RMPL (sequence ((ANW1.location = daycare) [10,20]) ) [10,20] Tell(ANW1.location = corridor) RMPL (parallel ((ANW1.location = corridor) [10,20]) (( ANW1.Take_Pictures()) ) RRTPN Take_Pictures( )[5,15] [10,20] Tell(ANW1.location = daycare) RRTPN [0,0] AND-start RRTTPN planning model Location constraints Memory-bounded optimal plan search AND-end

Location Constraints 4. Choose which location the robot should visit 3. To perform an activitiy require a robot to be at a location RMPL (if -thennext(ANW-1.location = lab) ((Lower_Chembots()) [15,30]) ) RRTPN RMPL (choose ((ANW-1.location = daycare) [10,20]) ((ANW-1.location = cafeteria) [15,28]) ((ANW-1.location = lab) [5,20]) ) [0,0] Ask(ANW1.location = lab) Lower_Chembots( ) [15,30] [10,20] Tell(ANW1.location = daycare) [5,20] Tell(ANW1.location = lab) [15,28] Tell(ANW1.location = cafeteria) RRTPN Decision (OR) node RRTTPN planning model Location constraints Memory-bounded optimal plan search

RMPL Mission Strategies Robot Models Strategy Selection Global Path Planning Kinodynamic Maneuver Planning

Search Building steps Enter building through windowI or windowII Fly to labA Deploy chem bots