Integrated modeling for planning, simulation and diagnosis

An intelligent planning system was developed to automatically generate plans for maintenance and repair activity aboard manned spacecraft integrating crew activities, a robot possessing integrated sensors, and a graphical robotic simulator. The authors have established a robust approach to modeling plan constraints that allows one to create plans for a variety of agents from a single plan source. A model-based monitoring and diagnostic system was developed and integrated into the planning system to simulate and detect anomalous situations in the domain workspace. An existing robotic simulation program was enhanced to verify safe operation of a robot, planning path movement for task execution while avoiding collision with other workspace objects. Hierarchical models of human users and constraints allowed system explanations to be given in varying levels of detail, depending on the needs of the user