Autonomous Ground Systems Demonstration of a Common World Model - - PowerPoint PPT Presentation

▶
autonomous ground systems
SMART_READER_LITE
LIVE PREVIEW

Autonomous Ground Systems Demonstration of a Common World Model - - PowerPoint PPT Presentation

Nov 27, 2022 187 likes •428 views

Autonomous Ground Systems Demonstration of a Common World Model Mark Hinton, Gautam Vallabha, Chris Cooke, Christine Piatko, Michael Zeher, Peter Gayler, Geoffrey Osier The Johns Hopkins University Applied Physics Laboratory, Laurel, MD

slide-1
SLIDE 1

Autonomous Ground Systems

8/9/2018

Demonstration of a Common World Model

Mark Hinton, Gautam Vallabha, Chris Cooke, Christine Piatko, Michael Zeher, Peter Gayler, Geoffrey Osier The Johns Hopkins University Applied Physics Laboratory, Laurel, MD

DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 1

slide-2
SLIDE 2

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 2

  • Introduction

– Definition: What is a World Model? – Definition: What makes a World Model “Common”? – Motivation: Why is a Common World Model important?

  • Representative Recent World Model Efforts
  • System Design
  • Description of Demonstration
  • Conclusions

Agenda

slide-3
SLIDE 3

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 3

  • Repository for storing, providing and sharing information relevant to a

system’s operational environment and beliefs – Both raw sense data and processed sense data

  • point clouds, density maps, etc.

– Environmental beliefs derived from sense data

  • object identification and classification, including threat identification, etc.

– History of behavioral decisions made as a result of sense data and derived beliefs

  • path modification for obstacle avoidance, etc.

Definition: What is a World Model?

slide-4
SLIDE 4

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 4

  • A world model is common when shared by all platforms and / or nodes, in

all supported operating domains, in a system or system of systems – Model structure – Data representation – Data sharing mechanisms

Definition: What makes a World Model “Common”?

slide-5
SLIDE 5

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 5

  • In three acronyms: COP, SA, SOS

– Common Operating Picture – Situational Awareness – Systems of Systems

Motivation: Why is a Common World Model important?

slide-6
SLIDE 6

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 6

  • What must a Common World Model (CWM) provide / assure?

– Robustness (intermittent connectivity) – Robustness (node failures) – Availability – Scalability

  • Node capabilities (simple agents, complex agents)
  • System topologies (multi-agent, multi-domain)

– Persistence – Consistency

Requirements: What must a World Model provide?

slide-7
SLIDE 7

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 7

  • Joint Architecture for Unmanned Systems (JAUS)

– Reference Architecture 3.3 (2007)

  • World Model Vector Knowledge Store
  • Geometric focus rather than flexible metadata
  • Limited cross-platform data-sharing mechanism

– Environment and World Model Task Group (2013)

  • Effort abandoned
  • RCTA Common World Model (2013)

– APL assessment: Disadvantages outweighed advantages (2014)

  • Restrictive, fixed set of metadata
  • Hardcoded self information
  • Fieldtree can be iterated but not queried, and throws away Z component.

– Focus on data sharing on a platform, not between platforms

History: Representative Recent World Model Efforts (1)

slide-8
SLIDE 8

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 8

  • Summary

– Focus: On-platform sensor fusion – Little support for cross-platform sharing for COP or SA – No defined distributed data store or controlled replication – No candidate standard for cross-platform data exchange or data interoperability

  • Barriers

– Interoperability: Meaningful data-sharing across domains can be hard! – Scalability: Scaling down computation requirements for small platforms while retaining capabilities for large SoS – Resilience: ability to provide data consistency across multi-sources despite lossy communications links

History: Representative Recent World Model Efforts (2)

slide-9
SLIDE 9

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 9

  • System Design of Improved Common World Model (CWM)

– Focus on Interoperability

  • Cross-Platform Data Sharing Mechanisms
  • Flexible Data Representations

– Focus on Scalability – Focus on Resilience

Approach: Addressing the Barriers

slide-10
SLIDE 10

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 10

  • Separation of Data Representation and Data Propagation

– WM Data Representation

  • Data must be flexible, self-identifying/defining to greatest degree possible
  • History of unproductive “holy war” debates

– WM Data Propagation

  • Flexible, resilient, transport-agnostic interfaces
  • Greater degree of community agreement on requirements
  • Separation of Data Store and Data Transport

– Transport-agnostic Data Store – Data-agnostic Transport

Approach: Separations of Concerns

slide-11
SLIDE 11

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 11

  • Issues and Approaches:

– Limited available bandwidth

  • Selective subscription
  • QoS tuning per topic

– Unreliable/Intermittent communications

  • Eventual consistency
  • Opportunistic replication

– Access latency

  • Clients interact with data from local WMDS
  • Transparent replication

CWM Design: Elements of Data Sharing

slide-12
SLIDE 12

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 12

CWM Design: Architectural Concept

slide-13
SLIDE 13

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 13

Demonstration Design: Mission Scenario

slide-14
SLIDE 14

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 14

System Demonstration: CONOP Dataflows

slide-15
SLIDE 15

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 15

  • Phase 1: Generate and Share Map
  • Phase 2: Designate, Propagate, Annotate POIs

– Mapping robot provides location – System Commander designates POI – System Command and Analyst annotate POI – CWM propagates POIs

  • Phase 3: Capture, Propagate, Annotate Snapshots
  • Phase 4: End Mission

System Demonstration: Script

slide-16
SLIDE 16

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 16

System Demonstration: Platforms Employed

Mapping platform Prosecution platform

slide-17
SLIDE 17

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 17

System Demonstration: Map Building

slide-18
SLIDE 18

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 18

System Demonstration: POI Designation

slide-19
SLIDE 19

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 19

System Demonstration: Map Following

slide-20
SLIDE 20

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 20

System Demonstration: Snapshot

slide-21
SLIDE 21

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 21

System Demonstration: Annotation

slide-22
SLIDE 22

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 22

  • Implemented and Demonstrated:

– A Common World Model (CWM) based on a Distributed World Model Data Store (WMDS) – Use of Flexible Standards-based (JAUS) interfaces to WMDS (see paper)

  • Client interface to WMDS
  • Inter-WMDS transport

– Consistent world view – Semantic labeling of objects of interest by multiple collaborating human

  • perators and systems
  • Future Work:

– Performance / scalability assessment – Object identification and classification – Traversability estimation

Conclusions

slide-23
SLIDE 23

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 23

  • Johns Hopkins University Applied Physics Laboratory

– Michael Zeher

  • Michael.Zeher@jhuapl.edu
  • (240) 228-9945

– Mark Hinton

  • Mark.Hinton@jhuapl.edu
  • (443) 778-9870

– Gautam Vallabha

  • Gautam.Vallabha@jhuapl.edu
  • (240) 228-6781

Points of Contact

slide-24
SLIDE 24

Autonomous Ground Systems

8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 24

???

Question Time