A Model-Based Approach to Reactive Self-Configuring Systems

Brian C. Williams and P. Pandurang Nayak

This paper describes Livingstone, an implemented kernel for a self-reconfiguring autonomous system, that is reactive and uses component-basedeclarative models. The paper presents a formal characterization of the representation formalism used in Livingstone, and reports on our experience with the implementation in a variety of domains. Livingstone’s representation formalism achieves broad coverage of hybrid software/hardware systems by coupling the concurrent transition system models underlying concurrent reactive languages with the discrete qualitative representations developed in model-based reasoning. We achieve a reactive system that performs significant deductions in the sense/response loop by drawing on our past experience at building fast propositional conflictbased algorithms for model-based diagnosis, and by framing a model-based configuration manager as a propositional, conflict-based feedback controller that generates focussed, optimal responses. Livingstone automates all these tasks using a single model and a single core deductive engine, thus making significant progress towards achieving a central goal of modelbased reasoning. Livingstone, together with the ttSTS planning and scheduling engine and the I~APS executive, has been selected as the core autonomy architecture for Deep Space One, the first spacecraft for NASA’s New Millenium program.

This page is copyrighted by AAAI. All rights reserved. Your use of this site constitutes acceptance of all of AAAI's terms and conditions and privacy policy.