Architecting for autonomy

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Christal Randall
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1 Architecting for autonomy Exploring the landscape Sagar Behere 14 January 2014 Kungliga Tekniska Högskolan Architecting for autonomy 1 / 29

2 Contents 1 Background: Intelligence and autonomy 2 Architecture concepts 3 Hierarchies for autonomy Architecting for autonomy 2 / 29

3 What is intelligence? The ability of a system to act appropriately in an uncertain environment Appropriate action is that which increases the probability of success Success is the achievement of behavioral sub-goals that support the system's ultimate goal The criteria of success and the system's ultimate goal may be dened external to the intelligent system (source: J. Albus, Outline of a theory of intelligence) Architecting for autonomy 3 / 29

4 What is autonomy? In principle autos = self ; nomos = law. Having one's own laws. Self governing, capable of making its own decisions In practice The ability to operate without human supervision/intervention Architecting for autonomy 4 / 29

5 Automatic vs Autonomous Automatic control Well dened task: regulate variable, follow trajectory,... "Direct" link between perception and action Environment well modeled Autonomous control More general task: reach position, monitor area,... Environment often "unknown" or variable Calls for decisional processes Architecting for autonomy 5 / 29

6 Autonomy gradients For a drone Regulate heading/speed/altitude Follow a list of ordered waypoints Follow a geometric trajectory Follow a road Follow a target Survey an area while avoiding threats and obstacles Architecting for autonomy 6 / 29

7 Summary: Intelligent autonomy Intelligent autonomy requires decisional processes Decision: notion of deliberation, planning, prediction and evaluation of the outcomes of an action Architecting for autonomy 7 / 29

8 Contents 1 Background: Intelligence and autonomy 2 Architecture concepts 3 Hierarchies for autonomy Architecting for autonomy 8 / 29

9 What is architecture "..fundamental concepts or properties of a system in its environment, embodied in its elements, relationships and principles of its design and evolution." [ ISO42010:2011 ] But remember The map is not the territory! Architecting for autonomy 9 / 29

10 Architecture types Architecture Conceptual Technical Service Taxonomy Logical Software Hardware Architecting for autonomy 10 / 29

11 Conceptual/Service taxonomy Hierarchy of Services/Features as seen by the user of the system. (source: S. Rittman, A methodology for modeling usage behavior of multi-functional systems) Architecting for autonomy 11 / 29

12 Conceptual/Logical architecture Block diagram of the system (source: Fernandes L. et al, Intelligent robotic car for autonomous navigation) Architecting for autonomy 12 / 29

13 Technical/Software (source: AUTOSAR.org) Architecting for autonomy 13 / 29

14 Technical/Hardware (source: Biber P. et al, New challenges for future avionic architectures) Architecting for autonomy 14 / 29

15 Relations Architecture Conceptual Technical mapped Service Taxonomy Logical Software Hardware realizes does not dictate deployed Partitioning - Behavior - User visibility - Block diagrams - de/composition Computation Communication Time Space Architecting for autonomy 15 / 29

16 Extra functional properties Architecture Safety Reliability Robustness Predictability... Conceptual Technical Service Taxonomy Logical Software Hardware drealizes oes not dictat mapped deployed Partitioning Computation Communication Time Space Architecting for autonomy 16 / 29

17 Autonomy What are the requirements? Where are the bottlenecks? Safety Reliability Robustness Predictability Cost... LEGACY Architecting for autonomy 17 / 29

18 Contents 1 Background: Intelligence and autonomy 2 Architecture concepts 3 Hierarchies for autonomy Architecting for autonomy 18 / 29

19 Hierarchies in the logical architecture Architecting for autonomy 19 / 29

20 Hierarchies in the logical architecture (source: Poole D. et al, Articial Intelligence - Foundations of computational agents) Architecting for autonomy 20 / 29

21 Level guidelines An order-of-magnitude change Control bandwidth decreases Perceptual resolution decreases Goals expand in scope; planning horizons expand in space+time World models & event memories decrease decrease in resolution and increase in spatial+temporal range Precision decreases, intelligence increases Architecting for autonomy 21 / 29

22 Level grouping Architecting for autonomy 22 / 29

23 The intelligent node SITUATION ASSESSMENT Operator interface PLANNING AND EXECUTION PERCEIVED SITUATIONS SITUATION EVALUATION Value judgement PLAN RESULTS PLAN EVALUATIONS Sensory processing OBSERVED INPUT UPDATES PREDICTED INPUT World model Knowledge database PLANS STATES Behavior generation COMMANDED ACTIONS Sensors Actuators INTERNAL EXTERNAL Environment (source: J. Albus et al, A reference model architecture for intelligent hybrid control systems) Architecting for autonomy 23 / 29

24 Structuring communication (source: J. Albus, Outline of a theory of intelligence) Architecting for autonomy 24 / 29

25 Creating 'holons': Autonomy gateway User interface model AG Planning/monitoring/ Decision Subsystems model Architecting for autonomy 25 / 29

26 Composing autonomy Architecting for autonomy 26 / 29

27 Contents 1 Background: Intelligence and autonomy 2 Architecture concepts 3 Hierarchies for autonomy Architecting for autonomy 27 / 29

28 Work directions Principles of structuring and communication Characterizing the intervention and coordination within the hierarchy Logical Technical AG User Interface modeling, subsystems model manipulation Subsystems modeling Querying and representation of subsystem capabilities Architecting for autonomy 28 / 29

29 Questions? Architecting for autonomy 29 / 29

Architectural Blueprint

IMPORTANT NOTICE TO STUDENTS These slides are NOT to be used as a replacement for student notes. These slides are sometimes vague and incomplete on purpose to spark a class discussion Architectural Blueprint