Artist conception of the New Millennium Deep Space One Probe (DS1). Launched October 1998, DS1 flew by an asteroid in 1999 and will fly by a comet on its extended mission. For part of its mission, DS1 was flown autonomously by Remote Agent, an AI system combining high-level planning and scheduling, intelligent execution and the Livingstone model-based autonomous systems kernel.

Current Projects

• Livingstone (L2): A model-based reactive self-configuring system, written in C++. More information. POC Lee Brownston
  The Livingstone source code and documentation are now approved for open source distribution under the NASA Open Source Agreement. Download Livingstone2 from NASA Open Source Software

• L2 Tools: model building and testing tools to support L2, including Stanley and Oliver, visual environments to support programming using the Model-based Programming Language (MPL).
  The Livingstone/L2 Tools source code and documentation are now approved for open source distribution under the NASA Open Source Agreement. Download Livingstone2/Tools from NASA Open Source Software

• The PITEX (Propulsion IVHM [Integrated Vehicle Health Management] Technology Experiment) focuses on the IVHM of experimental reusable launch vehicles for NASA's Space Launch Initiative. POC Sandra Hayden
  
  
• Hybrid Diagnosis: using particle filters to diagnosis the tight coupling of performance and environment of rover vehicles. POC Richard Dearden
  
  
• Automated Passenger ID and Threat Assessment System Project. POC Mark Schwabacher
  
  
• Machine Learning for Earth Science Project. POC Mark Schwabacher

Past Projects

• The NITEX (NASA IVHM [Integrated Vehicle Health Management] Technology Experiment) focused on the IVHM of X-34 and other experimental reusable launch vehicles for NASA's Space Launch Initiative. The X-34 project was cancelled.
• The X-37 Experimental Reusable Launch Vehicle IVHM (Integrated Vehicle Health Management). The X-37 project was cancelled.
• Remote Agent and Deep Space One: Deep Space One is the first New Millennium mission and will demonstrate spacecraft autonomy using Remote Agent. Remote Agent is made up of Livingstone, the HSTS planning and scheduling engine, and the Smart Executive.
• Hybrid Concurrent Constraint (HCC)
• ITMS: A kernel for fast on-line propositional inference.
Research may continue here.
• Burton: A reactive planning component of a model-based executive.
Research may continue here.
• Moriarty: A model-based hybrid symbolic/adaptive system. Moriarty extends discrete model-based autonomous systems to perform continous adaptive tasks, including self modeling and self configuration.
Research may continue here.

Current Members

• Group Lead: Richard Dearden
• Andrew Bachmann
• Anupa Bajwa
• Edward Balaban
• Lee Brownston
• Howard Cannon
• Scott Christa
• Sandra Hayden
• Tony Lindsey
• Sriram Narasimhan
• Charles Neveu
• Jeremy Ou
• Peter Robinson
• Mark Schwabacher
• Mark Shirley
• Adam Sweet
• Will Taylor
• Serdar Uckun
• Steve Wragg

Alumni

• Vineet Gupta
• Benoit Hudson
• Bert Kay
• James Kurien
• Bill Millar
• P. Pandurang Nayak
• Shirley Pepke
• Greg Whelan
• Brian C. Williams

Articles -

• Overview of Immobots

Immobots Take Control. In Technology Review, December 2002/January 2003
Wade Roush

Papers - Click the headings for an abstract, paper download, and presentations

• Advanced Diagnostic System on Earth Observing One.

Proceedings of AIAA-Space-2004
Sandra C. Hayden, Adam J. Sweet, Scott E. Christa, Daniel Tran, & Seth Shulman.
• Tutorial on Model-based Autonomous Systems

Model-based Autonomous Systems. AAAI-97.
Brian C. Williams and P. Pandurang Nayak.
• Overview: Model-based Autonomous Systems.

Immobile Robots: AI in the New Millennium. In AI Magazine, Fall 1996.
Brian C. Williams and P. Pandurang Nayak. 1996.
• James Kurien's Thesis Proposal

Model based monitoring, diagnosis & control. Presented to Brown University, 2000
This includes everything in the L2 paper below, and additional work.
• L2: Extending Livingstone

Back to the Future for Consistency-based Trajectory Tracking. Proceedings of AAAI-2000.
James Kurien and P. Pandurang Nayak.
• Livingstone: Onboard model-based configuration and health management.

A Model-based Approach to Reactive Self-Configuring Systems. In Proceedings of AAAI-96.
Brian C. Williams and P. Pandurang Nayak.
• Burton: Model-based execution and planning in the reactive loop.

A Reactive Planner for a Model-based Executive. In Proceedings of IJCAI-97.
Brian C. Williams and P. Pandurang Nayak
• ITMS: Fast, on-line, propositional inference.

Fast Context Switching in Real-time Propositional Reasoning. In Proceedings of AAAI-97.
Best paper prize winner.
P. Pandurang Nayak and Brian C. Williams. 1996.
• Moriarty: Towards self-modeling, adaptive systems.

Decompositional, Model-based Learning and its Analogy to Diagnosis. In Proceedings of AAAI-98.
Brian C. Williams and Bill Millar. 1998.
• Remote Agent: Extended Journal Paper

Remote Agent: To Boldly Go Where No AI System Has Gone Before. In Artificial Intelligence, 100th volume.
Nicola Muscettola, P. Pandurang Nayak, Barney Pell and Brian C. Williams.
• Remote Agent: Description of the Remote Agent Spacecraft Experiment

Design of the Remote Agent Experiment for Spacecraft Autonomy. In IEEE Aerospace 1998.
Douglas E. Bernard, Gregory A. Dorais, Chuck Fry, Edward B. Gamble Jr., Bob Kanefsky, James Kurien, William Millar, Nicola Muscettola, P. Pandurang Nayak, Barney Pell, Kanna Rajan, Nicolas Rouquette, Benjamin Smith, Brian C. Williams.
• Remote Agent: The early NewMAAP Demonstration

A Remote Agent Prototype for Spacecraft Autonomy. In Proceedings of the SPIE Conference on Optical Science, Engineering, and Instrumentation, 1996.
Barney Pell, Douglas E. Bernard, Steven A. Chien, Erann Gat, Nicola Muscettola, P. Pandurang Nayak, Michael D. Wagner, and Brian C. Williams.

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Last updated April 20, 2006. Direct feedback to william.m.taylor@nasa.gov