Chapter 11 Decisional Architectures for Motion Autonomy

System ExecutiveIntegratedPlanGoalVehicle ControlComplete PlanWith ExecutionMonitoringParametersSensing and PerceptionLocal MapPath PlannerPath PlanExecution Monitoring PlannerMission PlanningLayered Perception SystemcontrolMap-Based PlanningcontrolLocal PlanningcontrolReflexive Planningstatus & failurestatus & failurestatus & failureActuatorsAMBLERReal-TimeControllerLaserScannerGait PlannerCentral ControlMessageRoutingTableResourceSchedulesScanner InterfaceImage QueueManagerLocal TerrainMapperFootfall PlannerLeg Recovery PlannerTask TreesErrorRecoveryModuleUserInterfaceMISSION PLANNERR E P R E S E N T A T I O NHierarchicalComponentSPATIAL REASONERPLAN SEQUENCERSCHEMA CONTROLLERMOTORPERCEPTUALReactiveComponentActuationSensingSymboliceventdetectors∆ , ∆ s tprocessparametrizationSubsumptionsituationrecognizers∆ , ∆ s tsetpointselectionServods,dtSensorsActuatorsDELIBERATIVEInvocationSEQUENCINGStatusCONTROLSensorsActuatorsActivationResultsP L A N N E RGoalPlanning/MonitoringSubgoalSetupWorld modelTaskTaskNavigateAttachS E Q U E N C E RAgendaSequencer memoryNavigateNavigate-to camera-site-1Go-to x,y,zWait-for arm-alignedInterpreterS K I L L M A N A G E R SkillSkillGo-toSkillSkillSkillSkillSkillArm-alignedOperatorMissionReportsMission plannerTask refinmentPhysical system Logical system Functional level Execution control level Decisional level10 s1 sPlan supervisorTask supervisorRequestsState0.1 sExecutiveRequestsReportsModellingReflex actionsMonitoringServo-controlControlModuleModulePerceptionModuleModuleModuleModuleControlSensor and effector interfaceCommunication Proximetric sensors proprioceptive sensors effectors exteroceptive sensorsEnvironmentTrajectory PlannerWorld Model + PredictionMission DescriptionMission MonitorPMP generation and updateSBMs librarySBM [+ Nominal Trajectory]Motion ControllerSBM executionExecution Report + Sensor dataSkills librarySkills instantiation and executionCommandsSensor DataParallel ParkingTrajectory Following

Nominal TrajectoryyesTrajectory trackingGoal reached ?Find a parking placeFree parking place detectedLocal map building+Reaching an appropriate start locationFAILUREFree-space parametersGeneration-execution of appropriatebackward & forward motionsUpdatingnolocal mapSuccess ?yesSUCCESS

obstacle detectionnoObstacle avoidancenopossible ?FAILUREFree-lane descriptionyesLane changingFree-lane reachedTrajectory trackingLocal TrajectorynoObstacle overtaken ?Nominal trajectoryyesto reachLane changingyesNominal trajectorynoreached ?SUCCESSdT nd(st) nsTstnominal trajectoryobstacletraffic lanes0traffic lanetraffic directionD1traffic laneA14L1A1A11L2A13B14B1B13B12D4B11D2parking placeB23B22border of the parking laneB24B2D3A12B21parking laney(t)/y(T)10.500

0.2

0.40.6

x(t)/x(T)

0.8

1

0

-10

nominal trajectory0.4

y [m]-20

0.2

-30

motion direction-40

0

velocity [m/s]0

10

20

3040

time [s]

50

60

70

2.22.1

angle [rad]21.91.81.7

-0.2

local trajectory-20

-10

0x [m]

10

20

-0.41.6

01020

3040time [s]

506070

4

0.4

2y [m]0

velocity [m/s]0

0.60.40.20-0.2-0.4-0.6

10

20

3040

time [s]

50

60

angle [rad]start location0.20-0.2-0.4

-2

end location-4-10

-8-6-4

x [m]

-2024

-0.8

01020

3040time [s]

5060