Quiz: Making it autonomous WHAT Sensors, IS Algorithms, MISSING? - - PowerPoint PPT Presentation

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Quiz: Making it autonomous WHAT Sensors, IS Algorithms, MISSING? - - PowerPoint PPT Presentation

Quiz: Making it autonomous WHAT Sensors, IS Algorithms, MISSING? Models 1 / 29 N Where is academias role? 2 / 29 N Takeaway Research in bits and pieces Certified autonomous product Outstanding challenge for complex,


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Quiz: Making it autonomous

Sensors, Algorithms, Models WHAT IS MISSING?

1 / 29 N

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Where is academia’s role?

2 / 29 N

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Takeaway

Research in ’bits and pieces’ → Certified autonomous product

Outstanding challenge for complex, autonomous systems

3 / 29 N

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A holistic approach to systems autonomy

For complex, intelligent, safety-critical systems Sagar Behere behere@kth.se 14 November 2014 ITA, São Jose dos Campos, Brazil

4 / 29 A holistic approach to systems autonomy N

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Who am I?

Self-driving trucks Powertrain control Self-driving cars Private Pilot Flying machines Outdoor robots Cognitive robots Industrial robots 5 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

Contents

Background Holistic autonomy KTH

6 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

What is Intelligence?

7 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

What is Intelligence?

The ability of a system to act appropriately in an uncertain environment

7 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

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

7 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

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

7 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

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 defined external to the intelligent system

(source: J. Albus, Outline of a theory of intelligence)

7 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

What is autonomy?

8 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

What is autonomy?

The ability to operate without human supervision/intervention

8 / 29 A holistic approach to systems autonomy N

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Background: Intelligence and autonomy

Summary: Intelligent autonomy

Intelligent autonomy requires decisional processes Decision: notion of deliberation, planning, prediction and evaluation of the outcomes of an action

9 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Holistic

ho·lis·tic /h¯

  • "listik/ [adj.]

parts → intimately connected, and understandable → only by reference to the whole

10 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Holistic

ho·lis·tic /h¯

  • "listik/ [adj.]

parts → intimately connected, and understandable → only by reference to the whole So what is necessary for a holistic approach to autonomy? → A systems engineering perspective

10 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Systems engineering concerns

Requirements Specification Design Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades

11 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

From algorithms to systems

Requirements Specification Design Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades Architecture Algorithms Methods Perception Decision making Control Search

12 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

From algorithms to systems

Requirements Specification Design Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades Architecture Algorithms Methods Perception Decision making Control Search But will it certify?

13 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Development process support

Requirements Specification Design Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades Hazard analysis Safety goals

14 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Development process support

Requirements Specification Design Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades Hazard analysis Safety goals Architecture

15 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Development process support

Requirements Specification Design Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades Hazard analysis Safety goals Architecture Traceability?

16 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Product complexity

17 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Product complexity

18 / 29 A holistic approach to systems autonomy N

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The holistic approach to autonomy

Key message

’Autonomy’ is more than just another requirement Individual sensors, perception, control are all "getting there" but.. ..problems of integrating them into a safe, total system are not even completely understood

Analysis methods are inadequate Laws, regulations, standards are not up to speed Exploding state space, difficulties guaranteeing behavior . . .

19 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

Main research units

Center for Autonomous Systems (CAS) Automatic Control Mechatronics KTH Transport Labs

20 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

CAS - Unmanned aerial vehicles

21 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

CAS - Unmanned ground vehicles

22 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

CAS - Underwater vehicles

23 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

CAS - Indoor robotics

24 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

Automatic control

Situation awareness Task/Mission (re)planning Predictive control under constraints Model identification Path planning

25 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

Mechatronics

26 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

Research Concept Vehicle

27 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

Collaboration opportunities

Exchange

Master students, interns, thesis workers PhD students (typically one semester) Individual researchers

Brazilian Industry

Joint projects Assignments Case studies

28 / 29 A holistic approach to systems autonomy N

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Research at KTH/Sweden and collaboration

Takeaway

Research in ’bits and pieces’ → Certified autonomous product

Outstanding challenge for complex, autonomous systems

29 / 29 A holistic approach to systems autonomy N