June 28, 2000 Architecture Review 1 Examples: Implementing Common Solutions within CLARAty.

June 28, 2000 Architecture Review 1

Examples: Implementing Common Solutions within CLARAty


Overview of the Examples• Elaboration to different resolution levels• Executing Traditional Sequences• Resource estimation at different resolution

levels• Adding Behaviors to the System


Example 1: Elaboration to different resolution levels


N S

M

N

G

S

M

M = Simplified MissionN = NavigateS = Science MeasurementG = Waypoint Goto

rover

locomotor

pathplanner

rover

locomotor

pathplannerGG

CASE 1:Functional Layer provides navigation to Science Target

CASE 2:Decision Layer gets waypoints apriori

Accessing the Functional Layer at Different Levels of Granularity

Elaboration to different resolution levels


CASE 1:Functional Layer provides navigation to Science Target

CASE 2:Decision Layer gets waypoints apriori

x

x

x

xx

x

Navigation Example: Move to a Science Target


Navigation Example, cont.Decision Layer further breaks down activity

Functional Layer

CASE 1 CASE 2

Position

Position

Position

Position

Science

Time

Navigate

(2.53, 10.34)(1.32, 5.79) Transit

Time

(2.53, 10.34)(1.32, 5.79)

ScienceGoto GotoGotoGoto

Time

(2.53, 10.34)

ScienceGoto GotoGotoGotoEng

Functional Layer

(1.32, 5.79)

Time

Science

Time

(2.53, 10.34)(1.32, 5.79)Position Transit

ScienceNavigate

(1.32, 5.79)Position

Time

Science



Functional Layer

CASE 1

Time

(2.53, 10.34)(1.32, 5.79)Position Transit

ScienceNavigate

(1.32, 5.79)Position

Time

Science

• No Further Elaboration: Decision Layer passes Navigate activity directly to Functional Layer as a command. Eng activity would have to be scheduled at a later (possible less optimal) time.

• Less Control in Decision Layer: Elaboration is quick and simple. Resource/State Analysis only done at high-level.

• More Control in Functional Layer: Navigation activities are strictly handled in Functional Layer. More tight control of critical/risky activities.



CASE 2

Position

Position

Position

Position

Science

Time

Navigate

(2.53, 10.34)(1.32, 5.79) Transit

Time

(2.53, 10.34)(1.32, 5.79)

ScienceGoto GotoGotoGoto

Time

(2.53, 10.34)

ScienceGoto GotoGotoGotoEng

Functional Layer

(1.32, 5.79)

Time

Science

• Further Elaboration: Decision Layer interacts with path planner to further break down navigate activity into waypoints

• Optimality: May notice that another science or engineering operation can be scheduled in between individual gotos. Can globally optimize over all states and resources.


Example 2: Executing Traditional Sequences


rover

cameraarm

joint heater

P Q

M

M = Simplified MissionP = Planning ActivityS = Science MeasurementQ = Traditional Sequencer

rover

camera

CASE 1:Sequence is generated on the ground by operators.

CASE 2:Sequence generated by on-board planner.

Executing Traditional Sequences

Do this then that Then do something elseThen do the first thing againThen do nothing for a whileNow repeat four timesThen check powerThen move to (x,y)Then phone homeIf answer then talkElse call someplace elseAnd so on

arm

joint heater

321

P Q

M

321

Ground Sequence


Traditional Sequence Example: Take an image of a particular location


Traditional Sequence Example:Command Sequence sent to Decision Layer

210 16:12:52 (10:16:43) [25064]:[ROVER] 0.0.1 Imaging of mini-matterhorn 210 16:12:52 (10:16:43) [25065]: Set Error Mask (0) 210 16:12:56 (10:16:47) [25066]: [ROVER] 0.0.0 Heat modem 210 16:12:56 (10:16:47) [25067]: Heat 210 16:18:00 (10:21:43) [25068]: Set Parameter: tbuf_mode to 1 210 16:18:04 (10:21:47) [25069]: Image (left,auto,ops,comp:no,r40-r220,c184-c724,s2)210 16:27:02 (10:30:30) [25070]: Image (left,auto,ops,comp:no,r205-r383,c184-c724,s2)210 16:35:55 (10:39:08) [ 0]: Auto Health Check (level 2) 210 16:35:55 (10:39:08) [25071]: Image (right,auto,ops,comp:no,r40-r220,c44-c584,s2)210 16:44:53 (10:47:53) [25072]: Image (right,auto,ops,comp:no,r205-r383,c44-c584,s2)210 16:53:46 (10:56:31) [25073]: Set Parameter: tbuf_mode to 2 210 16:53:50 (10:56:35) [25074]: Set Error Mask (255) 210 16:53:54 (10:56:39) [25075]: Clear Errors (247) 210 16:53:58 (10:56:43) [25076]:[ROVER] 0.0.9 End imaging

Functional Layer

Traditional Sequencer

Decision Layer

Rover

Camera

acquire_image(Image)set_parameter(p1)


Example 3: Resource estimation at different resolution levels


P N

M

M = Simplified MissionP = Planning ActivityN = Navigation GAM

rover

Resource Estimation to Varying Resolution

vision

path_plan locomotor

rover

vision

path_plan locomotor

rover

vision

path_plan locomotor

CASE 1: Simple estimate using Euclidian distance

CASE 3: Very detailed estimate using all of case 2 plus accurate rocker bogie kinematic models

CASE 2: More detailed estimate using vision and path planning






Estimating:-Traversal Time-Power-Risk



Rover

PathPlanning

Rover Rover

Vision PathPlanningVision

RockerBogie_Locomotor




Simple Detailed Complex


Example 4: Adding Behaviors to the System


M = Simplified MissionP = Planning ActivityS = Navigation GAMB = BehaviorA = Arbitrator

Functional Layer controller is implemented by behaviors and arbitrators. Selection of mix can be default or specified by Decision Layer.

Adding Behaviors to the System

rover

B3

locomotor

P N

M

B2B1

A2A1



Wheel Linkage

Controlled_Motor

PID_Controller

BehaviorRover

Wheeled_Locomotor Vision_System

Visual_Odometer

Move_to_target Avoid_obstacles

CoordinationLimit_Wheel_Velocity

Flock

*

Hierarc

hical

Acces

s Safe

Mus

t Res

olve C

onfli

cts

CoordinatedMotion

BehaviorBasedRover


Concluding Remarks


Summary

• Described problems currently encountered in Robotic Autonomy system development, including critical mass in software development and insufficient integration of tradition system parts.

• Introduced CLARAty, an evolutionary improvement in previous system architecture concepts:

• Comprised of Functional and Decision Layers with an additional dimension of Granularity

• Merger of Executive and Planning Functions in the Decision Layer.

• Object Oriented design which adds a fourth dimension of abstraction through class inheritance.

• Connectivity between Functional and Decision Layers possible at different levels of Granularity.

• Adopt standards such as UML and C++, and open-source software paradigm.

• Leverage other efforts such as MDS.

• Provided a detailed description of the Functional Layer design.

• Described the concepts, and past and future directions of planning and executive functions in the Decision Layer.

• Showed examples describing the implementation of some current solution concepts within the new architecture.


Next Steps

• Field questions and take comments now.

• Extensive feedback, comments should be sent to [email protected]

• Prototype implementation of rover navigation under CLARAty this year.

• Develop plans:

• Including mature software packages into framework

• Extend framework when needed to enable widest possible user community and control techniques comparison.

• Bring other projects and their systems under the architecture.

• Establishing open-source development community with software review and repository maintenance.

• Reap the benefits of critical mass, where each participating party receives far more benefit than overhead by subscribing to a common architecture.


Thank you for your Attention

June 28, 2000 Architecture Review 1 Examples: Implementing Common Solutions within CLARAty.

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Transcript of June 28, 2000 Architecture Review 1 Examples: Implementing Common Solutions within CLARAty.