Model-based programming of intelligent embedded systems and robotic space explorers

Proceedings of the IEEE

Volumn 91, Issue 1, 2003, Pages 212-236

  Williams, Brian C ^a,b,c,d   Ingham, Michel D ^b,c,d   Chung, Seung H ^b   Elliott, Paul H ^b  

^a IEEE   (United States)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^c MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^d CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Constraint programming; Model based autonomy; Model based execution; Model based programming; Model based reasoning; Robotic execution; Synchronous programming

Indexed keywords

ACTUATORS; EMBEDDED SYSTEMS; PLANNING; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); SENSORS;

COMPONENT-BASED DECLARATIVE MODELS; MODEL-BASED PROGRAMMING LANGUAGE; REACTIVE CONTROL LOOP;

COMPUTER PROGRAMMING;

EID: 0141727275     PISSN: 00189219     EISSN: None     Source Type: Journal    
DOI: 10.1109/JPROC.2002.805828     Document Type: Article

References (31)

1. T. Young et al. (2000) Report of the Mars Program Independent Assessment Team. NASA, Washington, DC. [Online] Available: http://www.nasa.gov/newsinfo/ marsreports.html
2. J. Casani et al., "Report on the Loss of the Mars Polar Lander and Deep Space 2 Missions," NASA Jet Propulsion Laboratory, Pasadena, CA, JPL D-18 709, 2000.
3. B. C. Williams and P. Nayak, "A model-based approach to reactive self-configuring systems," in Proc. 13th Nat. Conf. Artif. Intell. (AAAI-96), vol. 2, 1996, pp. 971-978.
4. _, "A reactive planner for a model-based executive," in Proc. Int. Joint Conf. Artif. Intell. (IJCAI-97). vol. 2, 1997, pp. 1178-1185.
5. M. Ingham, R. Ragno, and B. C. Williams, "A reactive model-based programming language for robotic space explorers," presented at the Int. Symp. Artif. Intell., Robotics, Automation Space (ISAIRAS-01), Montreal, QB, Canada, 2001.
6. S. Chung, J. V. Eepoel, and B. C. Williams, "Improving model-based mode estimation through offline compilation," presented at the Int. Symp. Artif. Intell., Robotics, Automation Space (ISAIRAS-01), Montreal, QB, Canada, 2001.
7. P. Kim, B. C. Williams, and M. Abramson, "Executing reactive, model-based programs through graph-based temporal planning," in Proc. Int. Joint Conf. Anif. Intell. (IJCAI-01), vol. 1, 2001, pp. 487-493.
8. D. Bernard et al., "Design of the Remote Agent Experiment for spacecraft autonomy," presented at the IEEE Aerosp. Conf., Aspen, CO, 1999.
9. M. Ingham et al., "Autonomous sequencing and model-based fault protection for space interferometry," presented at the Int. Symp. Artif. Intell., Robotics, Automation Space (ISAIRAS-01), Montreal, QB, 2001.
10. C. Goodrich and J. Kurien, "Continuous measurements and quantitative constraints - challenge problems for discrete modeling techniques," presented at the Int. Symp. Artif. Intell., Robotics, Automation Space (ISAIRAS-01), Montreal, QB, Canada, 2001.
11. G. Berry and G. Gonthier, "The synchronous programming language ESTEREL: Design, semantics, implementation," Sci. Comput. Program., vol. 19, no. 2, pp. 87-152, 1992.
12. D. Harel, "Statecharts: A visual formulation for complex systems," Sci. Comput. Program., vol. 8, no. 3, pp. 231-274, 1987.
13. R. Davis, "Diagnostic reasoning based on structure and behavior," Artif. Intell., vol. 24, pp. 347-110, 1984.
14. L. Fesq et al., "Model-based autonomy for the next generation of robotic spacecraft," in Proc. 53rd Int. Astronautical Cong. Int. Astronautical Federation (IAC-02), 2002, Paper IAC-02-U.5.04.
15. V. Saraswat, "The category of constraint systems is cartesian-closed," presented at the 7th IEEE Symp. Logic Comput. Sci., Santa Cruz, CA, 1992.
16. V. Saraswat, R. Jagadeesan, and V. Gupta, "Foundations of Timed Default Concurrent Constraint programming," presented at the 9th IEEE Symp. Logic Comput. Sci., Paris, France, 1994.
17. B. C. Williams, S. Chung, and V. Gupta, "Mode estimation of model-based programs: Monitoring systems with complex behavior," in Proc. Int. Joint Conf. Artif. Intell. (IJCAI-01), vol. 1, 2001, pp. 579-590.
18. N. Halbwachs, Synchronous Programming of Reactive Systems, ser. Series in Engineering and Computer Science. Norwell, MA: Kluwer, 1993.
19. J. de Kleer and B. C. Williams, "Diagnosing multiple faults," Artif. Intell., vol. 32, no. 1, pp. 97-130, 1987.
20. _, "Diagnosis with behavioral modes," in Proc. Int. Joint Conf. Artif. Intell. (IJCAI-89), 1989, pp. 1324-1330.
21. B. C. Williams and R. J. Ragno, "Conflict-directed A* and its role in model-based embedded systems," J. Discrete Appl. Math., to be published.
22. P. Nayak and B. C. Williams, "Fast context switching in real-time propositional reasoning," in Proc. 14th Nat. Conf. Artif. Intell. (AAAI-97), 1997, pp. 50-56.
23. D. S. Weld, "An introduction to least commitment planning," AI Mag., vol. 15, no. 4, pp. 27-61, 1994.
24. G. Friedrich and W. Nejdl, "Choosing observations and actions in model-based diagnosis/repair systems," in Proc. 3rd Int. Conf. Principles Knowledge Representation Reasoning (KR-92), 1992, pp. 489-498.
25. R. Fikes and N. Nilsson, "STRIPS: A new approach to the application of theorem proving to problem solving," Artif. Intell., vol. 2, pp. 189-208, 1971.
26. R. J. Firby, "The RAP language manual," Univ. Chicago, Chicago, IL, Animate Agent Project Working Note AAP-6, 1995.
27. E. Gat, "ESL: A language for supporting robust plan execution in embedded autonomous agents," in Plan Execution: Problems Issues, Papers 1996 AAAI Fall Symp., 1996, pp. 59-64.
28. J. Kurien, P. Nayak, and B. C. Williams, "Model-based autonomy for robust Mars operations," presented at the 1st Int. Conf. Mars Soc., Boulder, CO, 1998.
29. V. Gupta, R. Jagadeesan, and V. Saraswat, "Models of concurrent constraint programming," in Lecture Notes in Computer Science. CONCUR '96: Concurrency Theory. Heidelberg, Germany: Springer-Verlag, 1996, vol. 1119, pp. 66-83.
30. M. Hofbaur and B. C. Williams, "Mode estimation of probabilistic hybrid systems," in Lecture Notes in Computer Science, Hybrid Systems: Computation and Control. Heidelberg, Germany: Springer-Verlag, 2002, vol. 2289, pp. 253-266.
31. B. C. Williams et al., "Model-based reactive programming of cooperative vehicles for Mars exploration," presented at the Int. Symp. Artif. Intell., Robotics, Automation Space (ISAIRAS-01), Montreal, QB, Canada, 2001.