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Integrating Statechart Components in Polyglot [chapter]

Daniel Balasubramanian, Corina S. Păsăreanu, Jason Biatek, Thomas Pressburger, Gabor Karsai, Michael Lowry, Michael W. Whalen
2012 Lecture Notes in Computer Science  
Furthermore, the paper describes on-going work on modeling Plexil execution plans with Polyglot, which enables the study of interaction issues for future manned and unmanned missions.  ...  These include a connector mechanism for communication, a scheduling framework for sequencing the execution of individual components, and a method for specifying verification properties spanning multiple  ...  A NASA case study using these extensions was described, as well as our on-going work to support the analysis of Plexil plans in Polyglot.  ... 
doi:10.1007/978-3-642-28891-3_26 fatcat:3fzykdm7ojeshdmu2dxp62uini

A Formal Interactive Verification Environment for the Plan Execution Interchange Language [chapter]

Camilo Rocha, Héctor Cadavid, César Muñoz, Radu Siminiceanu
2012 Lecture Notes in Computer Science  
The Plan Execution Interchange Language (PLEXIL) is an open source synchronous language developed by NASA for commanding and monitoring autonomous systems.  ...  Among its main features, PLEXIL5 provides model checking of plans with support for formula editing and visualization of counterexamples, interactive simulation of plans at different granularity levels,  ...  The authors would like to thank Michael Dalal and the Planning and Scheduling group at NASA Ames for fruitful discussions on PLEXIL and suggestions for the PLEXIL5 tool.  ... 
doi:10.1007/978-3-642-30729-4_24 fatcat:d46jfljigjb6rplxlk4p3tenbm

A Graphical Environment for the Semantic Validation of a Plan Execution Language

Camilo Rocha, César Munoz, Héctor Cadavid
2009 2009 Third IEEE International Conference on Space Mission Challenges for Information Technology  
PLEXIL is a synchronous plan execution language developed by NASA to support autonomous space operations.  ...  PLEXIL5 serves as a testbed for designers, developers and users of PLEXIL's executive system to validate, maintain, and debug the implementation of the system against the formal semantics of the language  ...  ACKNOWLEDGMENT The authors would like to thank the members of the NASA's Automation for Operation (A4O) project and, specially, the PLEXIL development team led by Michael Dalal at NASA Ames, for their  ... 
doi:10.1109/smc-it.2009.31 fatcat:7nfitzjtxjas5dcuigxn3bdqni

Spacecraft mission agent for autonomous robust task execution

Antony Gillette, Brendan O'Connor, Christopher Wilson, Alan George
2018 2018 IEEE Aerospace Conference  
This framework leverages the NASA-developed, open-source projects cFE and PLEXIL and was tested on development boards comparable to flight hardware.  ...  Instead of the traditional approach requiring onboard planning and scheduling, this method uses a combination of constraint and priority parameters associated with every task to ensure robust task execution  ...  PLEXIL Overview A PLEXIL plan consists of a tree of varying types of nodes and enables deterministic execution.  ... 
doi:10.1109/aero.2018.8396796 fatcat:s3oays2zhrh3zfdpvrmcio7oqu

Synchronous set relations in rewriting logic

Camilo Rocha, César Muñoz
2014 Science of Computer Programming  
NNL09AA00A awarded to the National Institute of Aerospace, and also by grants NSF CCF09-05584 and NSF CCF09-05584.  ...  The first author was partially supported by the Assurance of Flight Critical System's project of NASA's Aviation Safety Program at Langley Research Center under Research Cooperative Agreement No.  ...  Atomic propositions Φ N include the constants true and false, predicates for testing the for the plan Exchange in Fig. 1 , tests the invariant of node Exchange and that it will eventually transition  ... 
doi:10.1016/j.scico.2013.07.008 fatcat:tjrcre7i3bfvzmetnti6oym2ou

Model-based On-board Decision Making for Autonomous Aircraft

Johann Martin Schumann, Nagabhushan Mahadevan, Michael Lowry, Gabor Karsai
2019 Proceedings of the Annual Conference of the Prognostics and Health Management Society, PHM  
In an autonomous UAS, this information must be used for automatic planning and execution of contingency actions to keep the UAS safe in adverse conditions.We present DM (Decision Maker), a software component  ...  describe DM and its reasoning/search algorithm and present the supporting modeling framework for the construction of system and fault models.  ...  Red lines correspond to rejected contingency plans; the flight plan shown as green solid lines is selected by DM and sent to AOS and PLEXIL for execution.  ... 
doi:10.36001/phmconf.2019.v11i1.857 fatcat:7wtqdefn4rfanl5rprn6brmkm4

Robotic Systems Architectures and Programming [chapter]

David Kortenkamp, Reid Simmons
2008 Springer Handbook of Robotics  
The AIS tests each plan (set of TAPs) to see if it can actually be scheduled.  ...  RAPs, TDL, and PLEXIL have syntax that distinguishes leaf nodes of the task tree/graph from interior nodes.  ... 
doi:10.1007/978-3-540-30301-5_9 fatcat:r5gzsi2zsncgzjwe4hirpj4pw4

Robotic Systems Architectures and Programming [chapter]

David Kortenkamp, Reid Simmons, Davide Brugali
2016 Springer Handbook of Robotics  
The AIS tests each plan (set of TAPs) to see if it can actually be scheduled.  ...  RAPs, TDL, and PLEXIL have syntax that distinguishes leaf nodes of the task tree/graph from interior nodes.  ... 
doi:10.1007/978-3-319-32552-1_12 fatcat:nbhu7hv3fzaibo5g25drpl3lji

Prognostics for Autonomous Electric-Propulsion Aircraft

Johann Schumann, Chetan Kulkarni, Michael Lowry, Anupa Bajwa, Christopher Teubert, Jason Watkins
2021 International Journal of Prognostics and Health Management  
a highly autonomous aircraft: prognostics for (1) continuous on-board safety monitoring, (2) for UAS operations, and (3) for contingency planning.  ...  An autonomous unmanned aerial system (UAS) needs, during the flight, accurate information about the current failure state of the aircraft and its capabilities in order to safely perform its mission and  ...  Note that this dynamic analysis and re-planning of trajecto-ries is a part of nominal autonomous aircraft operations and in contrast to contingency planning, which will be discussed in Section 7.  ... 
doi:10.36001/ijphm.2021.v12i3.2940 fatcat:bdnlfb2nhvb27irx4vxdlxfa3i

Enabling and Enhancing Astrophysical Observations with Autonomous Systems [article]

Rashied Amini, Steve Chien, Lorraine Fesq, Jeremy Frank, Ksenia Kolcio, Bertrand Mennsesson, Sara Seager, Rachel Street
2020 arXiv   pre-print
This paper includes the following so that the astrophysics community can realize the benefits of autonomous systems: description of autonomous systems with examples; enabled and enhanced observations;  ...  The impact of autonomous systems on astrophysics can be just as revolutionary as in our daily lives.  ...  With on-board planning and execution and on-board health diagnosis, about 50% of anomalies resulting safing may be averted. Result based on analysis of the [44] safing dataset.  ... 
arXiv:2009.07361v1 fatcat:ezu4njphkrfkrnw6ijcz5tq5rm

Simulation and Verification of Synchronous Set Relations in Rewriting Logic [chapter]

Camilo Rocha, César Muñoz
2011 Lecture Notes in Computer Science  
The infrastructure in Maude and the examples presented in this paper are available from http://shemesh.larc.nasa.gov/people/cam/PLEXIL.  ...  By using the infrastructure, existing algorithm verification techniques already available in Maude for traditional asynchronous rewriting, such as reachability analysis and model checking, are automatically  ...  NNL09AA00A awarded to the National Institute of Aerospace.  ... 
doi:10.1007/978-3-642-25032-3_5 fatcat:dm3lov3mpfbdrhynsmpphvvbji

A Formal Representation of Software-Hardware System Design

Eric Walkingshaw, Paul Strauss, Martin Erwig, Jonathan Mueller, Irem Tumer
2009 Volume 2: 29th Computers and Information in Engineering Conference, Parts A and B   unpublished
Testing the system can discover incompatibilities and changes can be made to ensure proper system performance.  ...  decomposition) [49] , preliminary sketches to generate concepts/ideas [48] , models to analyze how the design works (stress analysis, failure analysis, vibration analysis, etc.) [15] , and/or detailed  ...  PLEXIL and The Universal Executive One of the field demonstrations for the K9 rovers accomplishes the autonomous control of the rover with the help of PLEXIL, which is an execution planning language designed  ... 
doi:10.1115/detc2009-87057 fatcat:vo7vsiqojnfdzj7zf4subef3zm

Model-based System Health Management and Contingency Planning for Autonomous UAS

Johann Schumann, Nagabhushan Mahadevan, Adam Sweet, Anupa R. Bajwa, Michael Lowry, Gabor Karsai
2019 AIAA Scitech 2019 Forum   unpublished
Automated reasoning with constraint satisfaction form the core of our decision-making component, which assesses the current situation, aids in failure disambiguation, and constructs a contingency plan  ...  to mitigate the failure(s) and allow for a safe end of the mission.  ...  This alternate flight plan is sent to PLEXIL. 8) PLEXIL finally executes the new flight plan.  ... 
doi:10.2514/6.2019-1961 fatcat:3wsvhlabrjbq7egfwwgo7q2x2y

Planning for Goal-Oriented Dialogue Systems [article]

Christian Muise, Tathagata Chakraborti, Shubham Agarwal, Ondrej Bajgar, Arunima Chaudhary, Luis A. Lastras-Montano, Josef Ondrej, Miroslav Vodolan, Charlie Wiecha
2019 arXiv   pre-print
Along the way, we introduce novel planning encodings for declarative dialogue synthesis, a variety of interfaces for working with the specification as a dialogue architect, and a robust executor for generalized  ...  We propose a declarative representation of the dialogue agent to be processed by state-of-the-art planning technology.  ...  The languages of PLEXIL and Esterel (Berry & Cosserat, 1984) are programming languages for autonomous systems.  ... 
arXiv:1910.08137v1 fatcat:bsuyafochvddboxm42b2l57uva

Formal Verification for Task Description Languages. A Petri Net Approach

Joaquín López, Alejandro Santana-Alonso, Miguel Díaz-Cacho Medina
2019 Sensors  
The approach has been applied to the Task Description Language (TDL) and it is illustrated by experiments.  ...  This is used to define new methods to analyze some task properties such as liveness, deadlock-freeness and terminability.  ...  In particular Reid Simmons for his support during the first stage of this research. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s19224965 pmid:31739526 pmcid:PMC6891290 fatcat:qucpoh55o5ec5c6bsijduc2lmi
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