麻省理工学院：《自制决策制造原则》英文版 Principles of Autonomy and Decision Making

Principles of Autonomy and Decision Making Brian c. williams 16.410/16413 December 10th 2003

Principles of Autonomy and Decision Making 1 Brian C. Williams 16.410/16.413 December 10th, 2003

Ou utline Objectives Agents and Their building blocks Principles for Building Agents Modeling formalisms Algorithmic Principles Building an agent The Mars exploration rover

Outline Outline • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover

Course objective I Principles of agents 16.410/13: To learn the modeling and algorithmic building blocks for creating reasoning and learning agents To formulate reasoning problems To describe. analyze and demonstrate reasoning algorithms To model and encode knowledge used by reasoning algorithms

Course Objective 1: Principles of Agents Course Objective 1: Principles of Agents 16.410/13: To learn the modeling and algorithmic building blocks for creating reasoning and learning agents: • To formulate reasoning problems. • To describe, analyze and demonstrate reasoning algorithms. • To model and encode knowledge used by reasoning algorithms. 16.410/13: To learn the modeling and algorithmic building blocks for creating reasoning and learning agents: • To formulate reasoning problems. • To describe, analyze and demonstrate reasoning algorithms. • To model and encode knowledge used by reasoning algorithms

Course Objective 2 Building agents 16.413: To appreciate the challenges of building a state of the art autonomous explorer To model and encode knowledge needed to solve a state of the art challenge To work through the process of autonomy systems integration To assess the promise, frustrations and challenges of using(b)leading art technologies

Course Objective 2: Building Agents Course Objective 2: Building Agents 16.413: To appreciate the challenges of building a state of the art autonomous explorer: • To model and encode knowledge needed to solve a state of the art challenge. • To work through the process of autonomy systems integration. • To assess the promise, frustrations and challenges of using (b)leading art technologies. 16.413: To appreciate the challenges of building a state of the art autonomous explorer: • To model and encode knowledge needed to solve a state of the art challenge. • To work through the process of autonomy systems integration. • To assess the promise, frustrations and challenges of using (b)leading art technologies

Ou utline Objectives Agents and Their Building Blocks Principles for Building Agents Modeling formalisms Algorithmic Principles Building an agent The Mars exploration rover

Outline Outline • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover • Objectives • Agents and Their Building Blocks • Principles for Building Agents: – Modeling Formalisms – Algorithmic Principles • Building an Agent: The Mars Exploration Rover

Mission-Oriented agents CourtesyNasajPl-cAlteCh.http://www.jplnasagov Our vision in NASa is to open the Space Frontier. We must establish a virtual presence, in space, on planets, in aircraft and spacecraft. -Daniel S Goldin, NASA Administrator, May 29, 1996

Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov. ``Our vision in NASA is to open the Space Frontier . . . We must establish a virtual presence, in space, on planets, in aircraft and spacecraft.’’ - Daniel S. Goldin, NASA Administrator, May 29, 1996 Mission-Oriented Agents Mission-Oriented Agents

Agent Building blocks Activity Planning Execution/Monitoring

Agent Building Blocks Agent Building Blocks • Activity Planning • Execution/Monitoring • Activity Planning • Execution/Monitoring

1. Engineering Agents 7 year cruise Affordable missions 150-300 ground operators 1 billion S 1 50 million S ·7 years to 2 year build build 0 ground ops Cassini Maps Titan CourtesyNasa/jpl-calTech.http://www.jpl.nasagov

Cassini Maps Titan • 7 year cruise • ~ 150 - 300 ground operators •~ 1 billion $ • 7 years to build 1. Engineering Agents •150 million $ •2 year build • 0 ground ops Affordable Missions Courtesy NASA/JPL-Caltech. http://www.jpl.nasa.gov

Houston, we have a problem Quintuple fault occurs three shorts tank-line and pressure jacket burst, panel flies off Diagnosis Mattingly works in ground simulator to identify new sequence handling severe power limitations Planning resource Allocation Mattingly identifies novel reconfiguration, exploiting LEM batteries for power Reconfiguration and repair Swagger lovell work on s13-62-934 Apollo 13 emergency rig ImagetakenfromNasa'Swebsitehttp://www.nasa.gov ithium hydroxide unit Executi

Houston, we have a problem ... Image taken from NASA’s web site: http://www.nasa.gov. • Quintuple fault occurs (three shorts, tank-line and pressure jacket burst, panel flies off) – Diagnosis. • Mattingly works in ground simulator to identify new sequence handling severe power limitations. – Planning & Resource Allocation • Mattingly identifies novel reconfiguration, exploiting LEM batteries for power. – Reconfiguration and Repair • Swaggert & Lovell work on Apollo 13 emergency rig lithium hydroxide unit. – Execution

Agent Building blocks Activity Planning ° Execution/ Monitoring Diagnosis Repair Scheduling Resource allocation

Agent Building Blocks Agent Building Blocks • Activity Planning • Execution/Monitoring • Diagnosis • Repair • Scheduling • Resource Allocation • Activity Planning • Execution/Monitoring • Diagnosis • Repair • Scheduling • Resource Allocation