Model-based task planning system for a space laboratory environment

摘要

This paper describes the design of a model-based autonomous planning system that will enable robots to manage a space-borne chemical laboratory. In a model-based planning system, knowledge is encapsulated in the Ibrm of models at the various layers to support the predefined system objectives. Thus the model-based approach can he considered as an extended planning paradigm which is able to base its planning, control, diagnosis, repair, and other activities on a variety of objectives-related models. We employ a System Entity Structure/Model Base framework to support autonoiious system design through the ability to generate a family of planning alternatives as well as to build hierarchical event-based control structures. The model base is a multi-level, multi-abstraction, and multiformalism system organized through the use ni system morphisms to integrate related models.