NDLI: A temporal logic-based planning and execution monitoring framework for unmanned aircraft systems

Content Provider	Springer Nature Link
Author	Doherty, Patrick Kvarnström, Jonas Heintz, Fredrik
Copyright Year	2009
Abstract	Research with autonomous unmanned aircraft systems is reaching a new degree of sophistication where targeted missions require complex types of deliberative capability integrated in a practical manner in such systems. Due to these pragmatic constraints, integration is just as important as theoretical and applied work in developing the actual deliberative functionalities. In this article, we present a temporal logic-based task planning and execution monitoring framework and its integration into a fully deployed rotor-based unmanned aircraft system developed in our laboratory. We use a very challenging emergency services application involving body identification and supply delivery as a vehicle for showing the potential use of such a framework in real-world applications. TALplanner, a temporal logic-based task planner, is used to generate mission plans. Building further on the use of TAL (Temporal Action Logic), we show how knowledge gathered from the appropriate sensors during plan execution can be used to create state structures, incrementally building a partial logical model representing the actual development of the system and its environment over time. We then show how formulas in the same logic can be used to specify the desired behavior of the system and its environment and how violations of such formulas can be detected in a timely manner in an execution monitor subsystem. The pervasive use of logic throughout the higher level deliberative layers of the system architecture provides a solid shared declarative semantics that facilitates the transfer of knowledge between different modules.
Starting Page	332
Ending Page	377
Page Count	46
File Format	PDF
ISSN	13872532
Journal	Autonomous Agents and Multi-Agent Systems
Volume Number	19
Issue Number	3
e-ISSN	15737454
Language	English
Publisher	Springer US
Publisher Date	2009-02-21
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Execution monitoring Planning Temporal action logic Reasoning about action and change Intelligent autonomous systems Unmanned aircraft systems User Interfaces and Human Computer Interaction Software Engineering/Programming and Operating Systems Computing Methodologies Computer Systems Organization and Communication Networks Artificial Intelligence (incl. Robotics)
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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