Three NASA Application Domains for Integrated Planning, Scheduling and Execution

Abstract

This paper describes three application domains for integrating planning, scheduling and execution at NASA Johnson Space Center. The three domains are: advanced life support systems; traded control of robotic manipulators and free flying space robots. The challenges of each domain will be given and initial progress will be described. For each domain we have applied the same layered control architecture, called 3T, which will also be described in this paper. Introduction NASA has many applications, both robotic and nonrobotic, that require integration of planning, scheduling and execution. This paper describes three on-going projects at NASA Johnson Space Center. Each project uses a layered control architecture also developed at NASA Johnson Space Center. First, we will introduce this architecture. Then we will look at its application to three projects: control of advanced life support systems; traded control of space manipulators; and control of a free flying space robot. For each appl...