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Proceedings Paper

Model-based task planning system for a space laboratory environment
Author(s): Sung-Do Chi; Bernard P. Zeigler; Francois E. Cellier
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Paper Abstract

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.

Paper Details

Date Published: 1 February 1991
PDF: 12 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25424
Show Author Affiliations
Sung-Do Chi, Univ. of Arizona (United States)
Bernard P. Zeigler, Univ. of Arizona (United States)
Francois E. Cellier, Univ. of Arizona (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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