MERS Model-based programming of Cooperating explorers Brian c. williams CSAIL Dept. Aeronautics and astronautics Massachusetts Institute of Technology
Model-based Programming of Cooperating Explorers Brian C. Williams CSAIL Dept. Aeronautics and Astronautics Massachusetts Institute of Technology
Programming Long -lived Embedded Systems 回 Helium tank Oxidizer tank Fuel tank Petare, molal 自自 Engines Large collections of devices must work in concert to achieve goals Devices indirectly observed and controlled Need quick, robust response to anomalies throughout life Must manage large levels of redundancy
With Complex Autonomic Processes Programming Long-lived Embedded Systems Large collections of devices must work in concert to achieve goals • Devices indirectly observed and controlled • Need quick, robust response to anomalies throughout life • Must manage large levels of redundancy
Coordination recapitulated at The MERS Level of Cooperating explorers ( Courtesy of Jonathan How. Used with permission
Coordination Recapitulated At The Level of Cooperating Explorers (Courtesy of Jonathan How. Used with permission.)
Coordination issues increase for MERS Dexterous Explorers A Courtesy of Frank Kirchner. Used with permission
Coordination Issues Increase For Dexterous Explorers (Courtesy of Frank Kirchner. Used with permission.)
Outline MERS Model-based Programming Autonomous Engineering Operations An example Model based execution Fast reasoning using conflicts Cooperating mobile vehicles Predictive Strategy Selection Planning out the strategy
Outline • Model-based Programming • Autonomous Engineering Operations – An Example – Model based Execution – Fast Reasoning using Conflicts • Cooperating Mobile Vehicles – Predictive Strategy Selection – Planning Out The Strategy