Planner Individual Project: Hybrid Planner (Final Draft)
Systems engineering report for hybrid written-online planner.
99 GENERAL AND MISCELLANEOUS↗
SEARCH · Search NASA
Results for “planner”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
A vision system planner for increasing the autonomy of the Extravehicular Activity Helper/Retriever
The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools and equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This paper documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios are discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, and complementary usage of the sensors and redundant capabilities.
Magee, Michael↗
Next Generation Remote Agent Planner
In May 1999, as part of a unique technology validation experiment onboard the Deep Space One spacecraft, the Remote Agent became the first complete autonomous spacecraft control architecture to run as flight software onboard an active spacecraft. As one of the three components of the architecture, the Remote Agent Planner had the task of laying out the course of action to be taken, which included activities such as turning, thrusting, data gathering, and communicating. Building on the successful approach developed for the Remote Agent Planner, the Next Generation Remote Agent Planner is a completely redesigned and reimplemented version of the planner. The new system provides all the key capabilities of the original planner, while adding functionality, improving performance and providing a modular and extendible implementation. The goal of this ongoing project is to develop a system that provides both a basis for future applications and a framework for further research in the area of autonomous planning for spacecraft. In this article, we present an introductory overview of the Next Generation Remote Agent Planner. We present a new and simplified definition of the planning problem, describe the basics of the planning process, lay out the new system design and examine the functionality of the core reasoning module.
Jonsson, Ari K.↗
An expert planner for the dynamic flight environment
This paper presents a robust robot planner that functions in the complex and dynamic flight domain. The robot pilot flies an aircraft between two airports and can adjust in flight to changes in the environment such as closed destination airport, thunderstorm in the flight path, and failed engine. The planner adjusts to the world changes by locally patching around the break point instead of complete replanning. The planning architecture is based on the vertical decomposition of domain knowledge, resulting in shallow planning and recovery planning. This robot flight planner can be utilized as the front end of an intelligent flight monitor. The flight planner dynamically generates the references that are used to determine whether the flight crew should be notified of potential problems. The implementation of this robot planner is also discussed.
Chen, D. C.↗
SOLON: An autonomous vehicle mission planner
The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.
Dudziak, M. J.↗
A workstation-based evaluation of a far-field route planner for helicopters
Helicopter flight missions at very low, nap of the Earth, altitudes place a heavy workload on the pilot. To aid in reducing this workload, Ames Research Center has been investigating various types of automated route planners. As part of an automated preflight mission planner, a route planner algorithm aids in selecting the overall (far-field) route to be flown. During the mission, the route planner can be used to replan a new route in case of unexpected threats or change in mission requirements. An evaluation of a candidate route planning algorithm, based on dynamic programming techniques is described. This algorithm meets most of the requirements for route planning, both preflight and during the mission. In general, the requirements are to minimize the distance and/or fuel and the deviation from a flight time schedule, and must be flyable within the constraints of available fuel and time.
Warner, David N., Jr.↗
ATD-2 Metroplex Planner User Manual
This document serves as a user manual for the ATD-2 Metroplex Planner (version 5.11) utilized by the Air Route Traffic Control Center (ARTCC), Terminal Radar Approach Control (TRACON), airport ATC Towers, and by Flight Operators. It describes the elements of the Metroplex Planner interface and provides step-by-step instructions for using the tool. Metroplex Planner functionality includes the display of live flight information, management of traffic restrictions, prediction of expected traffic demand/delay, andTrajectory Option Set (TOS) Operations. The Metroplex Planner is a component of the NASA Airspace Technology Demonstration 2 (ATD-2) sub-project.
Deborah L Bakowski↗
Metroplex Planner User Manual
This document serves as a user manual for the ATD-2 Metroplex Planner (version 6.1.2) for use by the Air Route Traffic Control Center (ARTCC), Terminal Radar Approach Control (TRACON), airport Air Traffic Control Tower, and airline Flight Operators. It describes the elements of the Metroplex Planner interface and provides step-by-step instructions for using the tool. In addition to live flight information, traffic management information, and demand/delay predictions, the Metroplex Planner supports Trajectory Option Set (TOS) rerouting. The Metroplex Planner is a component of the NASA Airspace Technology Demonstration 2 (ATD-2) sub-project.
Deborah L Bakowski↗
Leveraging Multiple Connected Traffic Light Signals in an Energy-Efficient Speed Planner
Connecting automated vehicles to traffic lights can lead to significant energy savings by enabling them to pass through intersections in an energy-efficient way without unnecessary stops. A cellular-based communication system connecting multiple traffic lights can help realize the full potential of energy-efficient driving at intersections. Thus, we propose a hierarchical speed planner that can leverage information from multiple connected traffic lights. The proposed speed planner consists of two modules: a green window selector and a reference trajectory generator. The green window selector, based on Dijkstra’s algorithm, finds a series of "green windows" for connected traffic lights that builds an energy-optimal path for vehicles to follow. The reference trajectory generator finds optimal entering times, based on the selected green window at each intersection, and then computes reference trajectories. Deriving and using analytical optimal entering speeds as a function of entering times allows us to guarantee the computational simplicity suitable for real-time implementation. We also demonstrate how to balance energy and traffic flow perspectives in the reference trajectory generator. Lastly, a high-fidelity simulation framework is used to evaluate the proposed speed planner and quantify the extent to which it can save energy in various real-world urban route scenarios.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
CARETS: A prototype regional environmental information system. Volume 13: Utility of CARETS products to local planners; an evaluation
The Metropolitan Washington Council of Governments (MWCOG) in cooperation with and under contract to the U.S. Geological Survey, conducted an evaluation of the utility of remote-sensor derived land use data produced by the USGS Central Atlantic Regional Ecological Test Site (CARETS) project. Investigators invited representatives of Washington, D.C. metropolitan area planning agencies to a workshop, introduced them to the CARETS products, and asked them to evaluate the products. In follow-up interviews, planners from 12 participating agencies reported general support for the fulI spectrum of CARETS products but gave more positive responses towards products with which they had some familiarity. Planners considered some products of limited utility because of (1) insufficient detail, (2) too small a scale, or (3) lack of technical capability to incorporate the information and products into the current planning process. Some planners expressed doubt about the application of CARETS products in most day-to-day planning activities , which involve specific rezoning requests or site development plans requiring highly localized data. The greatest potential of the CARETS products was in the identification of broad development patterns at the county or regional level. An appendix documents the results of an inventory of local government decisions relating to land use.
Land use planning↗
Application of the CIRSSE cooperating robot path planner to the NASA Langley truss assembly problem
A method for autonomously planning collision free paths for two cooperating robots in a static environment was developed at the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The method utilizes a divide-and-conquer type of heuristic and involves non-exhaustive mapping of configuration space. While there is no guarantee of finding a solution, the planner was successfully applied to a variety of problems including two cooperating 9 degrees of freedom (dof) robots. Although developed primarily for cooperating robots the method is also applicable to single robot path planning problems. A single 6 dof version of the planner was implemented for the truss assembly east, at NASA Langley's Automated Structural Assembly Lab (ASAL). The results indicate that the planner could be very useful in addressing the ASAL path planning problem and that further work along these lines is warranted.
Weaver, Jonathan M.↗
A Comparison of Two Path Planners for Planetary Rovers
The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared
Tarokh, M.↗
Mission Planner Algorithm for Urban Air Mobility – Initial Performance Characterization
In this paper, an initial characterization was performed of the Mission Planner algorithm developed by NASA for Urban Air Mobility (UAM) operations research. The algorithm plans conflict-free trajectories for flights to support a given set of UAM passenger trips. The UAM trips are planned in an on-demand, first-come, first-served manner, such that any given trip is subject to the constraints imposed by previously planned trips. For this analysis, the mission planning algorithm considered only the trajectory constraints from previously-planned trips in one test condition and added vertiport constraints for the second test condition. The conflict and constraint resolution strategies used by the Mission Planner were characterized by their percentage contribution to planning iterations, their percentage effectiveness in those iterations, and their contributions to the departure delay applied to each UAM trip’s flight. With the exception of the climb and descent vertical speed strategies, most strategies showed reasonable or good performance in all test scenarios. In the test condition with vertipad constraints enabled, both the total number of iterations executed, and the number of flights that required planning iterations, was reduced for all scenarios. This was the result of the natural conditioning of the traffic achieved with scheduling and the additional information available to the Mission Planner from the vertiport scheduler. The next steps for this work will include improvements to the mission planning strategies and analyses with additional constraints and under other demand scenarios.
Guerreiro, Nelson M.↗
"Hierarchical Speed Planner for Automated Vehicles: A Framework for Lagrangian Variable Speed Limit in Mixed Autonomy Traffic"
This paper introduces a novel control framework for Lagrangian variable speed limits in hybrid traffic flow environments utilizing automated vehicles (AVs). The framework was validated using a fleet of 100 connected automated vehicles as part of the largest coordinated open-road test designed to smooth traffic flow. The framework includes two main components: a high-level controller deployed on the server side, named Speed Planner, and low-level controllers called vehicle controllers deployed on the vehicle side. The Speed Planner designs and updates target speeds for the vehicle controllers based on real-time Traffic State Estimation (TSE) [1]. The Speed Planner comprises two modules: a TSE enhancement module and a target speed design module. The TSE enhancement module is designed to minimize the effects of inherent latency in the received traffic information and to improve the spatial and temporal resolution of the input traffic data. The target speed design module generates target speed profiles with the goal of improving traffic flow. The vehicle controllers are designed to track the target speed meanwhile responding to the surrounding situation. The numerical simulation indicates the performance of the proposed method: the bottleneck throughput has increased by 5.01%, and the speed standard deviation has been reduced by a significant 34.36%. We further showcase an operational study with a description of how the controller was implemented on a field-test with 100 AVs and its comprehensive effects on the traffic flow.
Wang, Han↗
Smart Planning Support for Nuclear Power Plant Work Planners
Operation and Maintenance costs of a nuclear power plant account for 60% of overall plant costs due to the nuclear industry?s risk-adverse culture (World Nuclear Association, 2020). The industry relies on highly conservative estimates to avoid risk and brute force reactions to manage the unexpected and keep a plant running safely. This approach has kept plants operating safer than any other power source available over the last six decades (Ritchie, 2020). However, these conservative methods have cost the nuclear industry in market competitiveness. The solution? Transform the conservative approaches to accurate, efficient, and still safe data-driven approaches that leverage advanced technologies available in the digital age of operation. This project endeavored to identify two key aspects to successfully incorporate historical work execution data. First, where in the work management process is that information most pertinent? Next, what variables are key to informing the best strategy for organizing the upcoming work? The Smart Planner uses data collected by dynamic work instructions to provide a basis for suggesting requirements of similar, upcoming work packages. Further, it curbs inefficiencies of the work management process by analyzing the likelihood of discovery work, offering suggestions to build a contingency package. All this taking place as the work planner builds work packages that meet the predetermined scope of work to be performed.
99 GENERAL AND MISCELLANEOUS↗
Deviser - An AI planner for spacecraft operations
The 'Deviser III' automated spacecraft mission planner prototype can plan complete Voyager spacecraft operational sequences consisting of over 100 data capture goals, working 10-50 times faster than a human analyst. The planner generates a loop-free network of actions and events resembling a program evaluation and review technique chart. Actions, events, and inferences are the building blocks from which plans are assembled. It is noted that, for a very large spacecraft mission plan, the backtracking through remembered decision trees entailed by this artificial intelligence system can consume megabite quantities of computer memory.
Vere, S. A.↗
Development and demonstration of an on-board mission planner for helicopters
Mission management tasks can be distributed within a planning hierarchy, where each level of the hierarchy addresses a scope of action, and associated time scale or planning horizon, and requirements for plan generation response time. The current work is focused on the far-field planning subproblem, with a scope and planning horizon encompassing the entire mission and with a response time required to be about two minutes. The far-feld planning problem is posed as a constrained optimization problem and algorithms and structural organizations are proposed for the solution. Algorithms are implemented in a developmental environment, and performance is assessed with respect to optimality and feasibility for the intended application and in comparison with alternative algorithms. This is done for the three major components of far-field planning: goal planning, waypoint path planning, and timeline management. It appears feasible to meet performance requirements on a 10 Mips flyable processor (dedicated to far-field planning) using a heuristically-guided simulated annealing technique for the goal planner, a modified A* search for the waypoint path planner, and a speed scheduling technique developed for this project.
Deutsch, Owen L.↗
Advanced Free Flight Planner and Dispatcher's Workstation: Preliminary Design Specification
The National Aeronautics and Space Administration (NASA) has implemented the Advanced Air Transportation Technology (AATT) program to investigate future improvements to the national and international air traffic management systems. This research, as part of the AATT program, developed preliminary design requirements for an advanced Airline Operations Control (AOC) dispatcher's workstation, with emphasis on flight planning. This design will support the implementation of an experimental workstation in NASA laboratories that would emulate AOC dispatch operations. The work developed an airline flight plan data base and specified requirements for: a computer tool for generation and evaluation of free flight, user preferred trajectories (UPT); the kernel of an advanced flight planning system to be incorporated into the UPT-generation tool; and an AOC workstation to house the UPT-generation tool and to provide a real-time testing environment. A prototype for the advanced flight plan optimization kernel was developed and demonstrated. The flight planner uses dynamic programming to search a four-dimensional wind and temperature grid to identify the optimal route, altitude and speed for successive segments of a flight. An iterative process is employed in which a series of trajectories are successively refined until the LTPT is identified. The flight planner is designed to function in the current operational environment as well as in free flight. The free flight environment would enable greater flexibility in UPT selection based on alleviation of current procedural constraints. The prototype also takes advantage of advanced computer processing capabilities to implement more powerful optimization routines than would be possible with older computer systems.
Wilson, J.↗