1. AI Planner Applications Practical Applications of AI Planners

2. AI Planner Applications 2 Overview Deep Space 1 Other Practical Applications of AI Planners Common Themes

3. AI Planner Applications 3 Literature Deep Space 1 Papers Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and Practice, chapter 19,. Elsevier/Morgan Kaufmann, 2004. Bernard, D.E., Dorais, G.A., Fry, C., Gamble Jr., E.B., Kanfesky, B., Kurien, J., Millar, W., Muscettola, N., Nayak, P.P., Pell, B., Rajan, K., Rouquette, N., Smith, B., and Williams, B.C. Design of the Remote Agent experiment for spacecraft autonomy. Procs. of the IEEEAerospace Conf., Snowmass, CO, 1998. http://nmp.jpl.nasa.gov/ds1/papers.html Other Practical Planners Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and Practice, chapter 22 and 23. Elsevier/Morgan Kaufmann, 2004 Tate, A. and Dalton, J. (2003) O-Plan: a Common Lisp Planning Web Service, invited paper, in Proceedings of the International Lisp Conference 2003, October 12-25, 2003, New York, NY, USA, October 12-15, 2003. http://www.aiai.ed.ac.uk/project/ix/documents/2003/2003-luc-tate-oplan-web.doc

4. AI Planner Applications 4 Deep Space 1 – 1998-2001 http://nmp.jpl.nasa.gov/ds1/

5. AI Planner Applications 5 DS 1 – Comet Borrelly http://nmp.jpl.nasa.gov/ds1/

6. AI Planner Applications 6 Achieve diverse goals on real spacecraft High Reliability single point failures multiple sequential failures Tight resource constraints resource contention conflicting goals Hard-time deadlines Limited Observability Concurrent Activity DS1 Domain Requirements

7. AI Planner Applications 7 Constraint-based planning and scheduling supports goal achievement, resource constraints, deadlines, concurrency Robust multi-threaded execution supports reliability, concurrency, deadlines Model-based fault diagnosis and reconfiguration supports limited observability, reliability, concurrency Real-time control and monitoring DS1 Remote Agent Approach

8. AI Planner Applications 8 Listed from least to most autonomous mode: 1. single low-level real-time command execution 2. time-stamped command sequence execution 3. single goal achievement with auto-recovery 4. model-based state estimation & error detection 5. scripted plan with dynamic task decomposition 6. on-board back-to-back plan generation, execution, & plan recovery DS1 Levels of Autonomy

10. DS 1 Systems Planning Execution Monitoring

11. AI Planner Applications 11 PS/MM generate plans on-board the spacecraft reject low-priority unachievable goals replan following a simulated failure enable modification of mission goals from ground EXEC provide a low-level commanding interface initiate on-board planning execute plans generated both on-board and on the ground recognize and respond to plan failure maintain required properties in the face of failures MIR confirm executive command execution demonstrate model-based failure detection, isolation, and recovery demonstrate ability to update on-board state via ground commands DS1 RAX Functionality

12. DS1 Remote Agent (RA) Architecture

13. DS1 Planner Architecture

14. AI Planner Applications 14 Final state goals “Turn off the camera once you are done using it” Scheduled goals “Communicate to Earth at pre-specified times” Periodic goals “Take asteroid pictures for navigation every 2 days for 2 hours” Information-seeking goals “Ask the on-board navigation system for the thrusting profile” Continuous accumulation goals “Accumulate thrust with a 90% duty cycle” Default goals “When you have nothing else to do, point HGA to Earth” DS1 Diversity of Goals

15. AI Planner Applications 15 State/action constraints “To take a picture, the camera must be on.” Finite resources power True parallelism the ACS loops must work in parallel with the IPS controller Functional dependencies “The duration of a turn depends on its source and destination.” Continuously varying parameters amount of accumulated thrust Other software modules as specialized planners on-board navigator DS1 Diversity of Constraints

16. DS1 Domain Description Language Temporal Constraints in DDL Command to EXEC in ESL

17. DS1 Plan Fragment

18. DS1 RA Exec Status Tool

19. DS1 RA Ground Tools

20. AI Planner Applications 20 RAX was activated and controlled the spacecraft autonomously. Some issues and alarms did arise: Divergence of model predicted values of state of Ion Propulsion System (IPS) and observed values – due to infrequency of real monitor updates. EXEC deadlocked in use. Problem diagnosed and fix designed by not uploaded to DS1 for fears of safety of flight systems. Condition had not appeared in thousands of ground tests indicating needs for formal verification methods for this type of safety/mission critical software. Following other experiments, RAX was deemed to have achieved its aims and objectives. DS1 – Flight Experiments 17 th – 21 st 1999

21. DS 1 Experiment 2 Day Scenario

22. DS 1 Summary Objectives and Capabilities

23. AI Planner Applications 23 Earlier Spacecraft Planning Applications Deviser NASA Jet Propulsion Lab Steven Vere, JPL First NASA AI Planner 1982-3 Based on Tate’s Nonlin Added Time Windows Voyager Mission Plans Not used live

24. AI Planner Applications 24 Earlier Spacecraft Planning Applications T-SCHED Brian Drabble, AIAI BNSC T-SAT Project 1989 Ground-based plan generation 24 hour plan uploaded and executed on UoSAT-II

25. AI Planner Applications 25 Nonlin electricity generation turbine overhaul Deviser Voyager mission planning demonstration SIPE – a planner that can organise a …. brewery Optimum-AIV Integrating technologies Integrating with other IT systems O-Plan various uses – see next slides Bridge Baron Deep Space 1 – to boldly go… Some Other Practical Applications of AI Planning

26. AI Planner Applications 26 O-Plan has been used in a variety of realistic applications: Noncombatant Evacuation Operations (Tate, et al., 2000b) Search & Rescue Coordination (Kingston et al., 1996) US Army Hostage Rescue (Tate et al., 2000a) Spacecraft Mission Planning (Drabble et al., 1997) Construction Planning (Currie and Tate, 1991 and others) Engineering Tasks (Tate, 1997) Biological Pathway Discovery (Khan et al., 2003) Unmanned Autonomous Vehicle Command and Control O-Plan’s design was also used as the basis for Optimum-AIV (Arup et al., 1994), a deployed system used for assembly, integration and verification in preparation of the payload bay for flights of the European Space Agency Ariane IV launcher. Practical Applications of AI Planning – O-Plan Applications

27. AI Planner Applications 27 A wide variety of AI planning features are included in O-Plan: Domain knowledge elicitation Rich plan representation and use Hierarchical Task Network Planning Detailed constraint management Goal structure-based plan monitoring Dynamic issue handling Plan repair in low and high tempo situations Interfaces for users with different roles Management of planning and execution workflow Practical Applications of AI Planning – O-Plan Features

28. AI Planner Applications 28 Outer HTN “human-relatable” approach Underlying rich time and resource constraint handling Integration with plan execution Model-based simulation and monitoring Rich knowledge modelling languages and interfaces Common Themes in Practical Applications of AI Planning

29. AI Planner Applications 29 Summary Deep Space 1 and Remote Agent Experiment Other Practical Applications of AI Planners Common Themes

30. AI Planner Applications 30 Literature Deep Space 1 Papers Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and Practice, chapter 19,. Elsevier/Morgan Kaufmann, 2004. Bernard, D.E., Dorais, G.A., Fry, C., Gamble Jr., E.B., Kanfesky, B., Kurien, J., Millar, W., Muscettola, N., Nayak, P.P., Pell, B., Rajan, K., Rouquette, N., Smith, B., and Williams, B.C. Design of the Remote Agent experiment for spacecraft autonomy. Procs. of the IEEEAerospace Conf., Snowmass, CO, 1998. http://nmp.jpl.nasa.gov/ds1/papers.html Other Practical Planners Ghallab, M., Nau, D. and Traverso, P., Automated Planning – Theory and Practice, chapter 22 and 23. Elsevier/Morgan Kaufmann, 2004 Tate, A. and Dalton, J. (2003) O-Plan: a Common Lisp Planning Web Service, invited paper, in Proceedings of the International Lisp Conference 2003, October 12-25, 2003, New York, NY, USA, October 12-15, 2003. http://www.aiai.ed.ac.uk/project/ix/documents/2003/2003-luc-tate-oplan-web.pdf