Corpus ID: 2837290

Survey of Command Execution Systems for NASA Spacecraft and Robots

  title={Survey of Command Execution Systems for NASA Spacecraft and Robots},
  author={Vandi Verma and Ari K. J{\'o}nsson and Reid G. Simmons and Tara A. Estlin and Richard Levinson},
NASA spacecraft and robots operate at long distances from Earth Command sequences generated manually, or by automated planners on Earth, must eventually be executed autonomously onboard the spacecraft or robot. Software systems that execute commands onboard are known variously as execution systems, virtual machines, or sequence engines. Every robotic system requires some sort of execution system, but the level of autonomy and type of control they are designed for varies greatly. This paper… Expand
A Survey on Model-Based Mission Planning and Execution for Autonomous Spacecraft
Operational concepts for mission planning and execution in recent European space projects as well as the implementation of in-flight adaptive mission operations via on-board control procedures are analyzed. Expand
Assurance of Model-Based Autonomy for Robotic Space Missions
NASA's robotic space missions must make use of on-board automation and autonomy to control themselves when communication with Earth is slow (due to light-time delays across the solar system) orExpand
Mission Control Concepts for Robotic Operations: Existing approaches and new Solutions
This paper gives a preliminary overview on activities within the currently ongoing Mission Control Concepts for Robotic Operations (MICCRO) study. The aim of the MICCRO study is to revealExpand
Mobile manipulation for planetary exploration
This work proposes a system architecture for an autonomous rover for planetary exploration, centered around a flexible, scalable world model to record and represent the environment of the robot and presents the enhancement of the Light Weight Rover Unit with an innovative docking interface for arbitrary tool handling. Expand
Autonomous Science Restart for the Planned Europa Mission with Lightweight Planning and Execution
In this paper we present MEXEC a lightweight on-board planning and execution system that monitors spacecraft state to robustly respond to current conditions. In addition it projects the remainingExpand
Robot middleware must support task-directed perception
While current robot middleware projects address functional concerns of robot control, middleware should also support the needs of task-directed perceptual processing. S* is an approach to intelligentExpand
Programming autonomous robots using agent programming languages
This research aims at identifying and addressing BDI-based agent programming languages requirements for programming autonomous robots and the current state of this research in addressing these requirements is presented. Expand
Hardware autonomy and space systems
Autonomous capability in space systems is rapidly becoming a necessity for continued research and exploration. While these systems have traditionally behaved as passive observers, their remotenessExpand
Context-aware Mission Control for Astronaut-Robot Collaboration
Space robot assistants are envisaged as semi-autonomous co-workers deployed to lighten the workload of astronauts in cumbersome and dangerous situations. In view of this, this work considers theExpand
Agent Programming Languages Requirements for Programming Autonomous Robots
This paper presents four requirements for BDI-based agent programming languages to facilitate the implementation of autonomous robot control systems: real-time reaction and response to events, representation of complex plans, coordination of the parallel execution of plans, and sensory management components. Expand


Mission planning and execution within the Mission Data System
Not only has the number of launched spacecraft per year exploded over the past few years, but also spacecraft are getting progressively more complex, as flyby missions give way to remote orbiters,Expand
Remote agent prototype for spacecraft autonomy
In a five month effort, this architecture integrates traditional real-time monitoring and control with constraint-based planning and scheduling, robust multi-threaded execution, and model-based diagnosis and reconfiguration and was successfully demonstrated in the context of an autonomous insertion of a simulated spacecraft into orbit around Saturn. Expand
A task description language for robot control
  • R. Simmons, David Apfelbaum
  • Computer Science
  • Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)
  • 1998
TDL is an extension of C++ that provides syntactic support for task decomposition, synchronization, execution monitoring, and exception handling, and a compiler transforms TDL into pure C++ code that utilizes a platform-independent task management library. Expand
Mission planning and target tracking for autonomous instrument placement
Future planetary rover missions, such as the upcoming Mars Science Laboratory, will require rovers to autonomously navigate to science targets specified from up to 10 meters away, and to placeExpand
Enabling autonomous rover science through dynamic planning and scheduling
With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase allows not only the collection of more science data, but enables a number of new andExpand
ORCCAD: software engineering for real-time robotics. A technical insight
The ORCCAD programming environment for robotic systems gathers control laws in continuous time at the low levels and discrete time logical aspects at higher levels and has been validated through several applications. Expand
The fully programmable spacecraft: procedural sequencing for JPL deep space missions using VML (Virtual Machine Language)
  • C. Grasso
  • Engineering
  • Proceedings, IEEE Aerospace Conference
  • 2002
VML (Virtual Machine Language) is an advanced procedural sequencing language which simplifies spacecraft operations, minimizes uplink product size, and allows autonomous operations aboard a missionExpand
Model-based programming of intelligent embedded systems and robotic space explorers
RMPL provides the features of synchronous, reactive languages, with the added ability of reading and writing to state variables that are hidden within the physical plant being controlled. Expand
IDEA: Planning at the Core of Autonomous Reactive Agents
This paper presents IDEA (Intelligent Distributed Execution Architecture) a unified planning and execution framework that allows the specification of agents that operate within a guaranteed reaction time and supports flexible specification of reactive vs. deliberative agent behavior. Expand
ESL: a language for supporting robust plan execution in embedded autonomous agents
  • E. Gat
  • Computer Science
  • 1997 IEEE Aerospace Conference
  • 1997
ESL (Execution Support Language) is a language for encoding execution knowledge in embedded autonomous agents, similar in spirit to RAPs, RS, and RPL Reactive Plan Language, but aims for a more utilitarian point in the design space. Expand