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Using Flexible Execution, Replanning, and Model Parameter Updates to Address Environmental Uncertainty for a Planetary Lander
Planning in an unknown environment presents a number of challenges: incorrect world models, unpredictable variation in execution, and fixed depletable resources. Productivity in the face of these challenges requires an integrated approach to planning and execution that is capable of accomplishing goals, reacting to variation, and maximizing overall utility. We examine this problem in the context of a Europa Lander concept mission. We model the problem as a hierarchical task network, framing it as a utility maximization problem with a depletable energy resource. Then, we propose a planning and execution framework that responds to feedback using three techniques: flexible execution, periodic replanning, and online parameter estimation and re-goaling. We demonstrate the efficacy of each of these techniques through simulation of a Europa Lander mission, showing higher utility achievement compared to simpler approaches, when presented with variation in energy consumption. We demonstrate that an approach to scheduling and execution that is grounded in decision theory and integrated planning and execution will be an enabling technology for future tightly-constrained planetary surface missions.
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.
Post-hoc Uncertainty Quantification for Remote Sensins Observing Systems
No abstract provided
Dimension Reduction and Forward Model Emulaor for Uncertainty Quantification
No abstract provided
Post-hoc Uncertainty Quantification for Remote Sensing Observing Systems
No abstract provided
The Quantifying Uncertainty and Kinematics of Earthquake Systems (quakes-a) Analytic Center Framework
No abstract provided