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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 1
Autonomous Ground Systems Agenda • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 2
Autonomous Ground Systems Definition: What is a World Model? • 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. 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 3
Autonomous Ground Systems Definition: What makes a World Model “Common”? • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 4
Autonomous Ground Systems Motivation: Why is a Common World Model important? • In three acronyms: COP, SA, SOS – Common Operating Picture – Situational Awareness – Systems of Systems 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 5
Autonomous Ground Systems Requirements: What must a World Model provide? • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 6
Autonomous Ground Systems History: Representative Recent World Model Efforts (1) • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 7
Autonomous Ground Systems History: Representative Recent World Model Efforts (2) • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 8
Autonomous Ground Systems Approach: Addressing the Barriers • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 9
Autonomous Ground Systems Approach: Separations of Concerns • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 10
Autonomous Ground Systems CWM Design: Elements of Data Sharing • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 11
Autonomous Ground Systems CWM Design: Architectural Concept 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 12
Autonomous Ground Systems Demonstration Design: Mission Scenario 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 13
Autonomous Ground Systems System Demonstration: CONOP Dataflows 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 14
Autonomous Ground Systems System Demonstration: Script • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 15
Autonomous Ground Systems System Demonstration: Platforms Employed Prosecution platform Mapping platform 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 16
Autonomous Ground Systems System Demonstration: Map Building 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 17
Autonomous Ground Systems System Demonstration: POI Designation 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 18
Autonomous Ground Systems System Demonstration: Map Following 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 19
Autonomous Ground Systems System Demonstration: Snapshot 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 20
Autonomous Ground Systems System Demonstration: Annotation 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 21
Autonomous Ground Systems Conclusions • 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 operators and systems • Future Work: – Performance / scalability assessment – Object identification and classification – Traversability estimation 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 22
Autonomous Ground Systems Points of Contact • 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 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 23
Autonomous Ground Systems Question Time ??? 8/9/2018 DISTRIBUTION STATEMENT A – APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED. 24
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