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IXTET-EXEC: planning, plan repair and execution control with time and resource management

Abstract : Improving the autonomy of space systems, such as satellites or rovers, requires to supply decisional capabilities on-board, including: the choice of the activities to perform in order to achieve the mission goals, the control of the execution of these activities and the diagnostic and monitoring of the state of the system. Our work focused on the processes of planning a mission and controlling its execution in the context of applications requiring the enforcement of temporal constraints (visibility windows, etc.) and the management of limited resources (energy, propellant, etc.). This thesis proposes a general framework to combine deliberative planning, execution control and reactive adaptation of a plan, that takes advantage of the temporal flexibility and parallelism of the plans produced by a Partial Order Causal Link planning system based on CSP managers (particularly, the temporal constraints are handled through a Simple Temporal Network). This approach has been implemented in the IxTeT-eXeC system. It is composed of a temporal executive and the IxTeT planning system, modified to improve the flexibility of its representation of resources, and to take into account the execution context and the search duration during the planning process. The executive controls the mechanisms of plan adaptation (in case of failures or new goals): (1) a plan repair concurrent with the execution of its valid part, (2) replanning from scratch. IxTeT-eXeC has been integrated in the decisional level of the LAAS architecture, in interaction with the procedural executive OpenPRS, to control an outdoor mobile robot with an exploration mission.
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Submitted on : Wednesday, June 15, 2005 - 10:49:21 AM
Last modification on : Friday, January 10, 2020 - 9:08:09 PM
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  • HAL Id : tel-00009496, version 1

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Solange Lemai. IXTET-EXEC: planning, plan repair and execution control with time and resource management. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2004. Français. ⟨tel-00009496⟩

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