McGhan, Catharine L. R. and Murray, Richard M. and Serra, Romain and Ingham, Michel D. and Ono, Masahiro and Estlin, Tara and Williams, Brian C. (2015) A risk-aware architecture for resilient spacecraft operations. In: 2015 IEEE Aerospace Conference. IEEE , Piscataway, NJ, pp. 1-15. ISBN 978-1-4799-5379-0. https://resolver.caltech.edu/CaltechAUTHORS:20150818-140635950
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Abstract
In this paper we discuss a resilient, risk-aware software architecture for onboard, real-time autonomous operations that is intended to robustly handle uncertainty in space-craft behavior within hazardous and unconstrained environments, without unnecessarily increasing complexity. This architecture, the Resilient Spacecraft Executive (RSE), serves three main functions: (1) adapting to component failures to allow graceful degradation, (2) accommodating environments, science observations, and spacecraft capabilities that are not fully known in advance, and (3) making risk-aware decisions without waiting for slow ground-based reactions. This RSE is made up of four main parts: deliberative, habitual, and reflexive layers, and a state estimator that interfaces with all three. We use a risk-aware goal-directed executive within the deliberative layer to perform risk-informed planning, to satisfy the mission goals (specified by mission control) within the specified priorities and constraints. Other state-of-the-art algorithms to be integrated into the RSE include correct-by-construction control synthesis and model-based estimation and diagnosis. We demonstrate the feasibility of the architecture in a simple implementation of the RSE for a simulated Mars rover scenario.
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| Additional Information: | © 2015 IEEE. The authors would like to thank Ioannis Filippidis and Kit Kennedy for their help and efforts on the RSE project over the summer, and the Model-based Embedded Robotic Systems Group at MIT for their input and feedback throughout the development process, especially Erez Karpas and Pedro Santana for all their help in answering our questions. The authors would also like to thank Abhi Jain and the DARTS lab at NASA JPL for their help and support in use of the ROAMS software. The research described in this paper was carried out at the Jet Propulsion Laboratory under a contract with the National Aeronautics and Space Administration, and at the California Institute of Technology under a grant from the Keck Institute for Space Studies. | ||||||
| Group: | Keck Institute for Space Studies | ||||||
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| DOI: | 10.1109/AERO.2015.7119035 | ||||||
| Record Number: | CaltechAUTHORS:20150818-140635950 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20150818-140635950 | ||||||
| Official Citation: | McGhan, C.L.R.; Murray, R.M.; Serra, R.; Ingham, M.D.; Ono, M.; Estlin, T.; Williams, B.C., "A risk-aware architecture for resilient spacecraft operations," Aerospace Conference, 2015 IEEE , vol., no., pp.1,15, 7-14 March 2015 doi: 10.1109/AERO.2015.7119035 | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 59744 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | Tony Diaz | ||||||
| Deposited On: | 19 Aug 2015 16:49 | ||||||
| Last Modified: | 10 Nov 2021 22:24 |
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