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System
RMPL
Activity planmodel
Kirk
Planner / Scheduler
Plan Runner
Schedulable / consistent plan re-plan request
commands status update
Compiler
Converter
RMPL program
HCA Model
RRTPN graph
Robot Interface
Autonomous Vehicles
Optimal RRTPN Search
Fast planningScheduling
• 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 locationRMPL (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]
[0,0]
[0,0]
[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 locationRMPL (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
RMPLMission Strategies
RMPLMission Strategies
RobotModelsRobot
Models
StrategySelectionStrategySelection
Global PathPlanning
Global PathPlanning
KinodynamicManeuverPlanning
KinodynamicManeuverPlanning
Search Building steps
• Enter building through windowI or windowII
• Fly to labA
• Deploy chem bots
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