lessons learned in implementing autonomy · lessons learned in implementing autonomy nasa workshop...
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Lessons Learned in Implementing Autonomy
NASA workshop on Enabling Autonomous Flight & Operations in the NAS
August, 2019
Sanjiv Singh, CEO, Near Earth AutonomyResearch Professor, Carnegie Mellon Robotics Institute
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Sense/Plan/Act/Interact
Outer loop layered on top of flight control
Dealing with Contingencies
What is Autonomy?
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Fly safe, Land Safe, Do it Without GPS,
Even when things go wrong
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Progression of Autonomy on the Ground
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1986: 1 m/s 1995: 5 m/s 2007: 10 m/s
2014: 30 m/s 2018: 15 m/s
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Localization: Where am I?Classification: What kinds of objects are around me?Prediction: How are these objects likely to move?Planning: How do I get to goal given hazards?
Key Problems
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Extension to the Air
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2014: 50 m/s 2016: 15 m/s
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Localization: Where am I?Classification: What kinds of objects are around me?Prediction: How are these objects likely to move?Planning: How do I get to goal given hazards?Contingency Management: How do I deal with failure
Key Problems
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Scalable Autonomy
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2006
RMAX (20 kn)
2010
AH-6 (40 kn)
2017
UH-1 (100 kn)
2014
AH-6 (100 kn)
20182018 2018
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Near Earth provides autonomy solutions for every stage of flight.
Autonomy by Stages of Flight
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Lesson: Awareness of Environment is essential
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UAS rely on accurate, high-frequency state (6/12 DOF) for stability and safetyState is most needed at low elevations when the vehicle is flying close to terrain, vegetation & structures.…Exactly when accurate GPS is least assured.
Robust Navigation
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Conventional Wisdom: use odometry (visual/inertial) as base. Update with global fixes (GPS/landmarks) when available.
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A mission
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Navigation without GPS
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What we can do today with out GPS
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CW for affordable sytems results in
Conflicting needs
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Navigation ControlCollision Avoidance, Safe Landing
Reference Frame Inertial Inertial Relative
Measurements Position Position, Velocity, Attitude
Position, Velocity, Attitude
Corrections Immediate Smooth None
Jump Drift
Estimate
True State
Jitter
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Awareness of the immediate world
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Autonomous Landing in Complex Terrain
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Scaling down
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Lesson: Autonomous Operation at scale in NAS needs shared control paradigm
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In the not too distant future (circa 2010)
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Control Modes
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Crashless vehicle
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Condition Workload Precision Decision Making Efficiency
Human Poor Poor Good Poor
Automation Good Good Poor Good
Human + Automation Good Good Good Good
Adjustable autonomy
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Lesson: Testing Autonomy safely requires human in the loop
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Testing autonomy
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Testing autonomy
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Captive carry of sensing/computing Pilot closes the loop with good displayOperator uses Adjustable AutonomyFull Autonomous Operation
4 Steps to push button autonomy
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Auto Driving Auto Flying
Navigation
Detection of hazards in environment
Classification of Objects
Prediction of (potentially) moving objectsContingencies in case of failure
Countering willful misuse
Difficulty Relative to State of the Art
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