A software system for planning and execution of actions by an autonomous spacecraft engaged in scientific exploration has been developed to satisfy requirements to (1) maintain positive resource margins and avoid short-sighted decisions in order to achieve long-term scientific and engineering goals while (2) responding quickly to changing circumstances in order to take advantage of unexpected opportunities for gathering scientific data or to recover from equipment malfunctions or adverse environmental events. The software is based on an integrated planning-and-execution architecture that supports continuous modification of a current working plan in response to continuously arriving updated information on the activities, resources, and the state of the spacecraft and its environment. After each update, its effects are propagated through current projections, which are limited in order to avoid unnecessary work. When conflicts arise in the plan as modified pursuant to the updates, iterative repair and local-search techniques are used to resolve the conflicts.
This program was written by Steve Chien, Robert Sherwood, Gregg Rabideau, Russell Knight, and Andre Stechert of Caltech for NASA's Jet Propulsion Laboratory.
This software is available for commercial licensing. Please contact Don Hart of the California Institute of Technology at (818) 393-3425. Refer to NPO-20590.
This Brief includes a Technical Support Package (TSP).
Software for planning and execution in an autonomous system
(reference NPO20590) is currently available for download from the TSP library.
Don't have an account?
Overview
The document discusses a software system developed for the planning and execution of actions by autonomous spacecraft engaged in scientific exploration. Created by a team from NASA's Jet Propulsion Laboratory, the software aims to balance the need for maintaining positive resource margins and achieving long-term scientific goals while also responding quickly to dynamic and unpredictable environments.
The software architecture supports continuous modification of a working plan based on real-time updates regarding the spacecraft's activities, resources, and environmental state. This integrated planning-and-execution system allows for rapid adjustments to the mission plan, enabling the spacecraft to take advantage of unexpected opportunities for data collection or to recover from equipment malfunctions.
Key features of the system include the ability to handle conflicts that arise from updates to the plan. When discrepancies occur between the expected and actual state of the spacecraft, iterative repair and local-search techniques are employed to resolve these conflicts efficiently. The document highlights the importance of dynamic planning, where the spacecraft must adapt to fortuitous events or setbacks, such as early completion of observations or failures in acquiring necessary guidance for scientific observations.
The document also describes a specific mission scenario, the ST4 (Space Technology 4) mission, which focuses on the operations of a comet lander. The mission involves complex activities such as drilling and material transport, instrument operations, and data uplink. The lander is designed to conduct multiple drilling activities at varying depths to collect samples, which will then be analyzed to determine the chemical makeup of cometary ices and dust.
Additionally, the document emphasizes the benefits of reducing planning response times, which can lead to increased science return and improved fault management. By interleaving planning and execution, the spacecraft can respond more effectively to unexpected changes, thereby enhancing its operational efficiency.
Overall, the document outlines the innovative approach taken by the JPL team to create a responsive and adaptive planning system for autonomous spacecraft, showcasing its potential to significantly improve the success of future space missions.
