Results for “planning under uncertainty” — Page 6

NASA NTRS2002

Demonstration of a Spoken Dialogue Interface for Planning Activities of a Semi-autonomous Robot

Planning and scheduling in the face of uncertainty and change pushes the capabilities of both planning and dialogue technologies by requiring complex negotiation to arrive at a workable plan. Planning for use of semi-autonomous robots involves negotiation among multiple participants with competing scientific and engineering goals to co-construct a complex plan. In NASA applications this plan construction is done under severe time pressure so having a dialogue interface to the plan construction tools can aid rapid completion of the process. But, this will put significant demands on spoken dialogue technology, particularly in the areas of dialogue management and generation. The dialogue interface will need to be able to handle the complex dialogue strategies that occur in negotiation dialogues, including hypotheticals and revisions, and the generation component will require an ability to summarize complex plans. This demonstration will describe a work in progress towards building a spoken dialogue interface to the EUROPA planner for the purposes of planning and scheduling the activities of a semi-autonomous robot. A prototype interface has been built for planning the schedule of the Personal Satellite Assistant (PSA), a mobile robot designed for micro-gravity environments that is intended for use on the Space Shuttle and International Space Station. The spoken dialogue interface gives the user the capability to ask for a description of the plan, ask specific questions about the plan, and update or modify the plan. We anticipate that a spoken dialogue interface to the planner will provide a natural augmentation or alternative to the visualization interface, in situations in which the user needs very targeted information about the plan, in situations where natural language can express complex ideas more concisely than GUI actions, or in situations in which a graphical user interface is not appropriate.

Dowding, John↗

NASA NTRS2019

On Expected Value Strong Controllability

The Probabilistic Simple Temporal Network (PSTN) generalizes Simple Temporal Networks with Uncertainty (STNUs) by introducing probability distributions over the timing of uncontrollable timepoints. PSTNs are controllable if there is a strategy to execute the controllable timepoints while bounding the risk of violating any constraint to a small value. If this risk bound can't be satisfied, PSTNs are not considered controllable. We introduce the Expected Value Probabilistic SimpleTemporal Network (EPSTN), which extends PSTNs by including a benefit to the satisfaction of temporal constraints. We study the problem of Expected Value Strong Controllability (EvSC) of EPSTNs, which seeks a schedule maximizing the expected value of satisfied constraints. We solve the EvSC problem by extending a previously developed linear program, combined with search over constraints to violate at execution time. We describe conditions under which the solution to this linear program is the maximum expected value schedule. We then show how to search for constraints to discard, using the linear program at the core of the search. While the general problem is shown to be exponential, we conclude by providing several methods to bound the complexity of search.

Planning↗

DOE OSTI2021

Role of uncertainties in protecting ecological resources during remediation and restoration

Cleanup of contaminated waste sites is a National priority to protect human health and the environment, while restoring land to productive uses. While there are uncertainties with under standing risk to individuals from exposure, the aim of this study was to focus on uncertainties and complexities for ecological systems, complicated by hundreds of species occupying any remediation site which participate in multiple-interacting food webs. The ability to better predict the effectiveness of remediation in fostering future ecosystems might facilitate remedy selection and improve strategic environmental management. This investigation examined (1) uncertainties in ecosystem processes, (2) uncertainties in exposure from contamination before remediation, and (3) uncertainties during remediation. Two Department of Energy sites Hanford Site and Savannah River Site were used as case studies to illustrate how the uncertainties affect eco-receptors. Several types of ecological, physical, and human dimension uncertainties are defined. Ecological uncertainties include temporal, spatial, individual, developmental, and exogenous types. Physical uncertainties are weather-related, watershed variations, slope/aspect, soil/sediment structure and form, unforeseen events, and temporal patterns. Human dimension uncertainties include current land use, future land use, extractive and non-extractive recreation. The effects of remedial strategies varied between the two sites because Hanford is a primarily arid shrub-steppe ecotype, while Savannah River is a wet forest ecotype. Defining the associated ecological sensitivities and uncertainties and providing examples might help policy-makers, managers, planners, and contractors to be aware of issues to consider throughout planning, remediation, and restoration. Adding ecological uncertainty analysis to risk evaluations and remediation planning is analogous to using safety factors in human health risk assessment.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2023

Integrating equity in transportation scenario planning: A systematic review

To address the growing uncertainties in the future transportation industry, planners and engineers have identified and implemented scenario planning, a multi-step and strategic approach, in long-range transportation planning. A comprehensive examination of how equity is envisioned, planned, and analyzed during this process remains absent, despite several key guidelines of scenario planning exercises. This paper conducts a systematic literature review focusing on how equity has been considered and evaluated in scenario planning. The resources include academic papers, agency reports, and materials from the recent scenario planning conference, the 2nd Conference on Scenario Planning in Transportation hosted by the Transportation Research Board. This paper examines equity in scenario planning in three important ways: 1) the ways equity has been integrated across steps; 2) how equity analysis has evolved; and 3) when it is necessary to consider equity. This work adds value to the existing body of knowledge by presenting the policy implications based on the review of the current scenario planning research and practices. Early policy recommendations include the need for more vertical equity evaluations, the construction of robustness and justice indicators, and the adoption of a flexible mindset of planning for rather than being fixated on a single scenario.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2023

Gamma Spectrometry Code Rodeo for Uranium Enrichment—FY 2022 Report

In the first two quarters of FY22, data acquisition continued at ORNL and LLNL using uranium sources of known enrichments. This was an FY21 task which could not be completed in FY21 because of problems encountered with the ORNL M400 CZT in Q4 of FY21, and the subsequent repairs. The detector was received back from H3D in the first of September 2021 , and the measurements resumed . Measurements using the repaired detector were completed in Q1 of FY22. The spectra were distributed by ORNL to the analyzing labs. Analysis results were received in Q2 of FY2022. The results from the various codes were intercompared and an ANOVA analysis was performed. Random and systematic uncertainties were established for each code. The ANOVA results and discussions were included in a revised version of FY21Annual Report issued in March 2022. A paper was presented at the INMM 2022Annual Conference, with the analysis results from the various isotopic codes, and the ANOVA table with random and systematic uncertainties. The Project Work Plan (PWP) for FY22 included a task to perform field testing of the M400 CZT and the analysis codes using UF 6 cylinder measurements at the Framatome Fuel Fabrication Facility in Richland, WA. PNNL was the lead for the field testing task. PNNL drafted a Field Test Plan, and refined it based on comments received from the team. PNNL coordinated with Framatome facility, the logistics of carrying out the field testing . A collimator and shield made out of TFlex (tungsten impregnated polymer) was designed and professionally manufactured. The collimators were used in the field test measurements. The measurements at Framatome were completed on April 21, 2022. A total of 34 Type 30B cylinders were measured using three M400 detectors (PNNL, LLNL, and ORNL detectors). Measurements using M400 were taken at two locations on the side of each cylinder and from the end-on bottom location. Additionally, HPGe measurements were taken at the end-on location to establish ground truth. Cylinder wall thickness measurements were also made at all three locations. To gain a better understanding of the effect of background from surrounding cylinders, the same five cylinders measured individually in low background locations were measured again in the cylinder storage yards. Due to inclement weather, manufacturer delays, shipping delays, and equipment failure, the measurement campaign spanned twice as long compared to the original timeline. Gamma-ray spectra from M400 and HPGe detectors, along with the cylinder data and photographs were organized and shared with the collaborators for further analysis. Spectra were analyzed by the participating laboratories. FY22 PWP also consists of tasks related to plutonium source measurements, adapting the codes to analyze plutonium spectra, and inter-comparison of the results from various codes. Plutonium spectra are being acquired at LANL, ORNL, and LLNL. LANL, SNL and LLNL are in the process of modifying FRAM, GADRAS, and CZTU, respectively. The plutonium related tasks will be completed in Q2 of FY23.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS1975

Design definition study of NASA/Navy lift/cruise fan V/STOL aircraft

Assessed are the risks associated with the lift/cruise fan technology V/STOL aircraft program. Three candidate concepts for the technology aircraft design approach are considered: the lowspeed only modification, the full performance modification, and the all new aircraft concepts. Survey results indicate that the lift/cruise fan technology aircraft program is feasible, from the standpoint of technical risk, with some evidence of uncertainty of meeting the planned schedule and relatively minor impact on estimated program costs.

Source record↗

NASA NTRS1980

Assessment of zero gravity effects on space worker health and safety

One objective of the study is to assess the effects of all currently known deviations from normal of medical, physiological, and biochemical parameters which appear to be due to zero gravity (zero-g) environment and to acceleration and deceleration to be experienced, as outlined in the references Solar Power Satellites (SPS) design, by space worker. Study results include identification of possible health or safety effects on space workers either immediate or delayed due to the zero gravity environment and acceleration and deceleration; estimation of the probability that an individual will be adversely affected; description of the possible consequence to work efficiency in persons adversely affected; and description of the possible/probable consequences to immediate and future health of individuals exposed to this environment. A research plan, which addresses the uncertainties in current knowledge regarding the health and safety hazards to exposed SPS space workers, is presented. Although most adverse affects experienced during space flight soon disappeared upon return to the Earth's environment, there remains a definite concern for the long-term effects to SPS space workers who might spend as much as half their time in space during a possible five year career period. The proposed 90 day up/90 day down cycle, coupled with the fact that most of the effects of weightlessness may persist throughout the flight along with the realization that recovery may occupy much of the terrestrial stay, may keep the SPS workers in a deviant physical condition or state of flux for 60 to 100% of their five year career.

Source record↗

NASA NTRS1983

Radiation protection for manned space activities

The Earth's natural radiation environment poses a hazard to manned space activities directly through biological effects and indirectly through effects on materials and electronics. The following standard practices are indicated that address: (1) environment models for all radiation species including uncertainties and temporal variations; (2) upper bound and nominal quality factors for biological radiation effects that include dose, dose rate, critical organ, and linear energy transfer variations; (3) particle transport and shielding methodology including system and man modeling and uncertainty analysis; (4) mission planning that includes active dosimetry, minimizes exposure during extravehicular activities, subjects every mission to a radiation review, and specifies operational procedures for forecasting, recognizing, and dealing with large solar flaes.

Jordan, T. M.↗

NASA NTRS2009

Rover Slip Validation and Prediction Algorithm

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Yen, Jeng↗

NASA NTRS2012

Orbit Transfers for Dawn's Vesta Operations : Navigation and Mission Design Experience

Dawn, a mission belonging to NASA's Discovery Program, was launched on September 27, 2007 to explore main belt asteroids in order to yield insights into important questions about the formation and evolution of the solar system. From July of 2011 to August of 2012, the Dawn spacecraft successfully returned valuable science data, collected during the four planned mapping orbits at its first target asteroid, Vesta. Each mapping orbit was designed to enable a different set of scientific observations. Such a mission would have been impossible without the low thrust ion propulsion system (IPS). Maneuvering a spacecraft using only the IPS for the transfers between the mapping orbits posed many technical challenges to Dawn's flight team at NASA's Jet Propulsion Laboratory. Each transfer needs a robust plan that accounts for uncertainties in maneuver execution, orbit determination, and physical characteristics of Vesta. This paper discusses the mission design and navigational experience during Dawn's Vesta operations. Topics include requirements and constraints from Dawn's science and spacecraft teams, orbit determination and maneuver design and building process for transfers, developing timelines for thrust sequence build cycles, and the process of scheduling very demanding coverage with ground antennae at NASA's Deep Space Network.

low thrust↗

NASA NTRS2016

National Climate Assessment - Land Data Assimilation System (NCA-LDAS) Data at NASA GES DISC

As part of NASA's active participation in the Interagency National Climate Assessment (NCA) program, the Goddard Space Flight Center's Hydrological Sciences Laboratory (HSL) is supporting an Integrated Terrestrial Water Analysis, by using NASA's Land Information System (LIS) and Land Data Assimilation System (LDAS) capabilities. To maximize the benefit of the NCA-LDAS, on completion of planned model runs and uncertainty analysis, NASA will provide open access to all NCA-LDAS components, including input data, output fields, and indicator data, to other NCA-teams and the general public. The NCA-LDAS data will be archived at the NASA GES DISC (Goddard Earth Sciences Data and Information Services Center) and can be accessed via direct ftp, THREDDS, Mirador search and download, and Giovanni visualization and analysis system.

land surface↗

NASA NTRS2015

Decomposition of Sources of Errors in Seasonal Streamflow Forecasting over the U.S. Sunbelt

Seasonal streamflow forecasts, contingent on climate information, can be utilized to ensure water supply for multiple uses including municipal demands, hydroelectric power generation, and for planning agricultural operations. However, uncertainties in the streamflow forecasts pose significant challenges in their utilization in real-time operations. In this study, we systematically decompose various sources of errors in developing seasonal streamflow forecasts from two Land Surface Models (LSMs) (Noah3.2 and CLM2), which are forced with downscaled and disaggregated climate forecasts. In particular, the study quantifies the relative contributions of the sources of errors from LSMs, climate forecasts, and downscaling/disaggregation techniques in developing seasonal streamflow forecast. For this purpose, three month ahead seasonal precipitation forecasts from the ECHAM4.5 general circulation model (GCM) were statistically downscaled from 2.8deg to 1/8deg spatial resolution using principal component regression (PCR) and then temporally disaggregated from monthly to daily time step using kernel-nearest neighbor (K-NN) approach. For other climatic forcings, excluding precipitation, we considered the North American Land Data Assimilation System version 2 (NLDAS-2) hourly climatology over the years 1979 to 2010. Then the selected LSMs were forced with precipitation forecasts and NLDAS-2 hourly climatology to develop retrospective seasonal streamflow forecasts over a period of 20 years (1991-2010). Finally, the performance of LSMs in forecasting streamflow under different schemes was analyzed to quantify the relative contribution of various sources of errors in developing seasonal streamflow forecast. Our results indicate that the most dominant source of errors during winter and fall seasons is the errors due to ECHAM4.5 precipitation forecasts, while temporal disaggregation scheme contributes to maximum errors during summer season.

Decomposition↗

NASA NTRSDate not supplied

BioSentinel: To the Moon or Beyond?

BioSentinel, an Artemis-1 secondary spacecraft, will carry a biology experiment into deep space for the first time in 50 years. A 6U CubeSat form factor was utilized for the spacecraft and included technologies newly developed or adapted for operations beyond Earth orbit. This is the maiden deep-space voyage for the radio, propulsion system, electrical power system, and BioSensor payload. The spacecraft carries onboard budding yeast, Saccharomyces cerevisiae, as an analog to human cells to test the biological response to deep space radiation. Flying a secondary payload beyond LEO comes with unique challenges with respect to trajectory uncertainty and mission operations planning. BioSentinel does not carry propulsion for trajectory maneuvers, so plans for Comms and Power need to be developed for all trajectories. The nominal plan is a lunar flyby followed by an insertion into Heliocentric orbit. However, some possible scenarios include lunar eclipses that could severely impact the power budget during that phase of the mission, while others could result in a “Retrograde” hyperbola at swingby resulting in the spacecraft traveling inward toward Earth or even towards a collision with the lunar surface. BioSentinel’s final trajectory will not be known until after launch and deployment so possible scenarios need to be planned for ahead of time. This paper discusses the operational scenarios that were planned for as well as the actual execution of the mission operations including: command pass scheduling with the Deep Space Network, selecting bandwidth limits, medium gain antenna versus low gain antenna usage, and conserving power prior to a lunar eclipse. Note: Artemis-1 is planned to launch in the Spring of 2022

BioSentinel↗

NASA NTRSDate not supplied

BioSentinel: Mission Summary and Lessons Learned From the First Deep Space Biology CubeSat Mission

Launched on Artemis-1, BioSentinel carries a biology experiment into deep space for the first time in 50 years. A 6U CubeSat form factor was utilized for the spacecraft which included technologies newly developed or adapted for operations beyond Earth orbit. The spacecraft carries onboard budding yeast, Saccharomyces cerevisiae, as an analog to human cells to test the biological response to deep space radiation. This was the maiden deep-space voyage for many of the subsystems, and the first time to evaluate their performance in flight operation. Flying a CubeSat beyond LEO comes with unique challenges with respect to trajectory uncertainty and mission operations planning. The nominal plan was a lunar fly-by, followed by an insertion into Heliocentric orbit. However, some possible scenarios included lunar eclipses that could have severely impacted the power budget during that phase of the mission, while others could have resulted in a “Retrograde” hyperbola at swing-by resulting in the spacecraft traveling inward toward Earth or even towards a collision with the lunar surface. The commissioning phase of the mission was successful and completed a week ahead of schedule. It did not come without its exciting moments and challenges. First contact with the spacecraft uncovered that the vehicle was unexpectedly tumbling after deployment, a situation that needed to be corrected urgently. The mission operations team executed a contingency plan to stabilize the spacecraft, with just moments to spare before the battery ran out of power. The BioSensor payload onboard the spacecraft is a complex instrument that includes microfluidics, fluid systems, sensor control electronics, as well at the living yeast cells. BioSentinel also included a TimePix radiation sensor implemented by JSC’s RadWorks group. Dose and Linear Energy Transfer (LET) data is compared directly to the rate of DSB-and repair events measured by the S. cerevisiae cells. BioSentinel mature nanosatellite technologies included: deep space communications and navigation, autonomous attitude control and momentum management, and micro-propulsion systems, to provide an adaptable nanosatellite platform for deep space uses. This paper discusses the performance of the BioSentinel spacecraft through the mission phase, and includes lessons learned from challenges and anomalies. BioSentinel had many successes and will be a pathfinder for future deep space CubeSats and biology missions.

BioSentinel↗

NASA NTRSDate not supplied

Biosentinel: Mission Summary and Lessons Learned From the First Deep Space Biology CubeSat Mission

Launched on Artemis-1, BioSentinel carries a biology experiment into deep space for the first time in 50 years. A 6U CubeSat form factor was utilized for the spacecraft which included technologies newly developed or adapted for operations beyond Earth orbit. The spacecraft carries onboard budding yeast, Saccharomyces cerevisiae, as an analog to human cells to test the biological response to deep space radiation. This was the maiden deep-space voyage for many of the subsystems, and the first time to evaluate their performance in flight operation. Flying a CubeSat beyond LEO comes with unique challenges with respect to trajectory uncertainty and mission operations planning. The nominal plan was a lunar fly-by, followed by an insertion into Heliocentric orbit. However, some possible scenarios included lunar eclipses that could have severely impacted the power budget during that phase of the mission, while others could have resulted in a “Retrograde” hyperbola at swing-by resulting in the spacecraft traveling inward toward Earth or even towards a collision with the lunar surface. The commissioning phase of the mission was successful and completed a week ahead of schedule. It did not come without its exciting moments and challenges. First contact with the spacecraft uncovered that the vehicle was unexpectedly tumbling after deployment, a situation that needed to be corrected urgently. The mission operations team executed a contingency plan to stabilize the spacecraft, with just moments to spare before the battery ran out of power. The BioSensor payload onboard the spacecraft is a complex instrument that includes microfluidics, fluid systems, sensor control electronics, as well at the living yeast cells. BioSentinel also included a TimePix radiation sensor implemented by JSC’s RadWorks group. Dose and Linear Energy Transfer (LET) data is compared directly to the rate of DSB-and repair events measured by the S. cerevisiae cells. BioSentinel mature nanosatellite technologies included: deep space communications and navigation, autonomous attitude control and momentum management, and micro-propulsion systems, to provide an adaptable nanosatellite platform for deep space uses. This paper discusses the performance of the BioSentinel spacecraft through the mission phase, and includes lessons learned from challenges and anomalies. BioSentinel had many successes and will be a pathfinder for future deep space CubeSats and biology missions.

BioSentinel↗

NASA NTRSDate not supplied

Biosentinel: The First Deep Space Biology CubeSat Mission- Mission Summary and Lessons Learned

Launched on Artemis-1, BioSentinel carries a biology experiment into deep space for the first time in 50 years. A 6U CubeSat form factor was utilized for the spacecraft which included technologies newly developed or adapted for operations beyond Earth orbit. The spacecraft carries onboard budding yeast, Saccharomyces cerevisiae, as an analog to human cells to test the biological response to deep space radiation. This was the maiden deep-space voyage for many of the subsystems, and the first time to evaluate their performance in flight operation. Flying a CubeSat beyond LEO comes with unique challenges with respect to trajectory uncertainty and mission operations planning. The nominal plan was a lunar fly-by, followed by an insertion into Heliocentric orbit. However, some possible scenarios included lunar eclipses that could have severely impacted the power budget during that phase of the mission, while others could have resulted in a “Retrograde” hyperbola at swing-by resulting in the spacecraft traveling inward toward Earth or even towards a collision with the lunar surface. The commissioning phase of the mission was successful and completed a week ahead of schedule. It did not come without its exciting moments and challenges. First contact with the spacecraft uncovered that the vehicle was unexpectedly tumbling after deployment, a situation that needed to be corrected urgently. The mission operations team executed a contingency plan to stabilize the spacecraft, with just moments to spare before the battery ran out of power. The BioSensor payload onboard the spacecraft is a complex instrument that includes microfluidics, fluid systems, sensor control electronics, as well at the living yeast cells. BioSentinel also included a TimePix radiation sensor implemented by JSC’s RadWorks group. Dose and Linear Energy Transfer (LET) data is compared directly to the rate of DSB-and repair events measured by the S. cerevisiae cells. BioSentinel mature nanosatellite technologies included: deep space communications and navigation, autonomous attitude control and momentum management, and micro-propulsion systems, to provide an adaptable nanosatellite platform for deep space uses. This paper discusses the performance of the BioSentinel spacecraft through the mission phase, and includes lessons learned from challenges and anomalies. BioSentinel had many successes and will be a pathfinder for future deep space CubeSats and biology missions.

BioSentinel↗

NASA NTRS1994

Galileo mission planning for Low Gain Antenna based operations

The Galileo mission operations concept is undergoing substantial redesign, necessitated by the deployment failure of the High Gain Antenna, while the spacecraft is on its way to Jupiter. The new design applies state-of-the-art technology and processes to increase the telemetry rate available through the Low Gain Antenna and to increase the information density of the telemetry. This paper describes the mission planning process being developed as part of this redesign. Principal topics include a brief description of the new mission concept and anticipated science return (these have been covered more extensively in earlier papers), identification of key drivers on the mission planning process, a description of the process and its implementation schedule, a discussion of the application of automated mission planning tool to the process, and a status report on mission planning work to date. Galileo enhancements include extensive reprogramming of on-board computers and substantial hard ware and software upgrades for the Deep Space Network (DSN). The principal mode of operation will be onboard recording of science data followed by extended playback periods. A variety of techniques will be used to compress and edit the data both before recording and during playback. A highly-compressed real-time science data stream will also be important. The telemetry rate will be increased using advanced coding techniques and advanced receivers. Galileo mission planning for orbital operations now involves partitioning of several scarce resources. Particularly difficult are division of the telemetry among the many users (eleven instruments, radio science, engineering monitoring, and navigation) and allocation of space on the tape recorder at each of the ten satellite encounters. The planning process is complicated by uncertainty in forecast performance of the DSN modifications and the non-deterministic nature of the new data compression schemes. Key mission planning steps include quantifying resource or capabilities to be allocated, prioritizing science observations and estimating resource needs for each, working inter-and intra-orbit trades of these resources among the Project elements, and planning real-time science activity. The first major mission planning activity, a high level, orbit-by-orbit allocation of resources among science objectives, has already been completed; and results are illustrated in the paper. To make efficient use of limited resources, Galileo mission planning will rely on automated mission planning tools capable of dealing with interactions among time-varying downlink capability, real-time science and engineering data transmission, and playback of recorded data. A new generic mission planning tool is being adapted for this purpose.

Gershman, R.↗

NASA NTRS2020

Using Flexible Execution, Replanning, and Model Parameter Updates to Address Environmental Uncertainty for a Planetary Lander

When planning in unknown environments, a planner must ensure robustness to unknown phenomena and manage unpredictable variation in execution. Productivity in the face of these challenges requires an integrated approach to planning and execution that is capable of reacting to variation while still maximizing overall utility. We examine this problem in the context of the Europa Lander mission concept. We propose a planning and execution framework that responds to feedback using three techniques: (1) flexible execution, (2) periodic replanning, and (3) online model parameter and utility updates. The efficacy of each of these techniques is examined through simulation of the Europa Lander concept, showing higher utility achievement compared to baseline approaches.

Chien, Steve A.↗