Quiz: Making it autonomous WHAT Sensors, IS Algorithms, MISSING? Models 1 / 29 N
Where is academia’s role? 2 / 29 N
Takeaway Research in ’bits and pieces’ → Certified autonomous product Outstanding challenge for complex, autonomous systems 3 / 29 N
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 A holistic approach to systems autonomy 4 / 29 N
Who am I? Self-driving trucks Flying machines Outdoor robots Cognitive robots Powertrain control Self-driving cars Industrial robots Private Pilot A holistic approach to systems autonomy 5 / 29 N
Background: Intelligence and autonomy Contents Background Holistic autonomy KTH A holistic approach to systems autonomy 6 / 29 N
Background: Intelligence and autonomy What is Intelligence? A holistic approach to systems autonomy 7 / 29 N
Background: Intelligence and autonomy What is Intelligence? The ability of a system to act appropriately in an uncertain environment A holistic approach to systems autonomy 7 / 29 N
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 A holistic approach to systems autonomy 7 / 29 N
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 A holistic approach to systems autonomy 7 / 29 N
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) A holistic approach to systems autonomy 7 / 29 N
Background: Intelligence and autonomy What is autonomy? A holistic approach to systems autonomy 8 / 29 N
Background: Intelligence and autonomy What is autonomy? The ability to operate without human supervision/intervention A holistic approach to systems autonomy 8 / 29 N
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 A holistic approach to systems autonomy 9 / 29 N
The holistic approach to autonomy Holistic ho · lis · tic /h¯ o " listik/ [adj.] parts → intimately connected, and understandable → only by reference to the whole A holistic approach to systems autonomy 10 / 29 N
The holistic approach to autonomy Holistic ho · lis · tic /h¯ o " 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 A holistic approach to systems autonomy 10 / 29 N
The holistic approach to autonomy Systems engineering concerns Requirements Specification Design Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades A holistic approach to systems autonomy 11 / 29 N
The holistic approach to autonomy From algorithms to systems Requirements Architecture Perception Specification Algorithms Decision making Search Design Methods Control Implementation Testing Verification and validation Safety engineering Standards and certification Maintenance, upgrades A holistic approach to systems autonomy 12 / 29 N
The holistic approach to autonomy From algorithms to systems Requirements Architecture Perception Specification Algorithms Decision making Search Design Methods Control Implementation Testing Verification and validation Safety engineering But will it certify? Standards and certification Maintenance, upgrades A holistic approach to systems autonomy 13 / 29 N
The holistic approach to autonomy Development process support Requirements Specification Design Implementation Testing Verification and validation Safety engineering Hazard analysis Safety goals Standards and certification Maintenance, upgrades A holistic approach to systems autonomy 14 / 29 N
The holistic approach to autonomy Development process support Requirements Specification Design Architecture Implementation Testing Verification and validation Safety engineering Hazard analysis Safety goals Standards and certification Maintenance, upgrades A holistic approach to systems autonomy 15 / 29 N
The holistic approach to autonomy Development process support Traceability? Requirements Specification Design Architecture Implementation Testing Verification and validation Safety engineering Hazard analysis Safety goals Standards and certification Maintenance, upgrades A holistic approach to systems autonomy 16 / 29 N
The holistic approach to autonomy Product complexity A holistic approach to systems autonomy 17 / 29 N
The holistic approach to autonomy Product complexity A holistic approach to systems autonomy 18 / 29 N
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 . . . A holistic approach to systems autonomy 19 / 29 N
Research at KTH/Sweden and collaboration Main research units Center for Autonomous Systems (CAS) Automatic Control Mechatronics KTH Transport Labs A holistic approach to systems autonomy 20 / 29 N
Research at KTH/Sweden and collaboration CAS - Unmanned aerial vehicles A holistic approach to systems autonomy 21 / 29 N
Research at KTH/Sweden and collaboration CAS - Unmanned ground vehicles A holistic approach to systems autonomy 22 / 29 N
Research at KTH/Sweden and collaboration CAS - Underwater vehicles A holistic approach to systems autonomy 23 / 29 N
Research at KTH/Sweden and collaboration CAS - Indoor robotics A holistic approach to systems autonomy 24 / 29 N
Research at KTH/Sweden and collaboration Automatic control Situation awareness Task/Mission (re)planning Predictive control under constraints Model identification Path planning A holistic approach to systems autonomy 25 / 29 N
Research at KTH/Sweden and collaboration Mechatronics A holistic approach to systems autonomy 26 / 29 N
Research at KTH/Sweden and collaboration Research Concept Vehicle A holistic approach to systems autonomy 27 / 29 N
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 A holistic approach to systems autonomy 28 / 29 N
Research at KTH/Sweden and collaboration Takeaway Research in ’bits and pieces’ → Certified autonomous product Outstanding challenge for complex, autonomous systems A holistic approach to systems autonomy 29 / 29 N
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