This paper describes an architecture of a system designed to support the critical decision making required of an autonomous robot executing air missions in hostile environments. A major source of the complexity and difficulty of mission planning and replanning problems are encountered in the control and execution of such missions as a result of incomplete and uncertain knowledge about the world. Another source of complexity is the control of search for a feasible course of actions that meets the mission goals in real time. This paper briefly describes the functionalities of KAMPR in terms of the knowledge and its representation that combine to endow the system with the capabilities to handle some of the above problems. It is based on a computational methodology that makes the causal connection of relevant situational parameters to a spatial flight plan explicit to aid in flight plan execution monitoring and replanning.
KAMPR: Knowledge-based approach to mission planning and replanning
KAMPR: Wissensbasierte Naeherung fuer die Entscheidungsfindung bei Flugmissionen
1987
8 Seiten, 7 Bilder, 12 Quellen
Conference paper
English
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