Numerous path planning solutions have been proposed to solve the navigation problem in static environments, potentially populated with dynamic obstacles. However, in dynamic environments, moving objects can be used to reach new locations. In this paper, we propose an online planning algorithm for unknown dynamic environments that focuses on accessibility and on the use of objects movements to r...

Constraint programming techniques have proven their eeciency in solving high combinatory problems. In this paper, we study the adaptation , the extension and the limits of those techniques in the space planning problem which consists in nding the locations and the sizes of several objects under geometric constraints in a location space. For all that, we deene the formalism of Geometric Constrai...

Modern planning and scheduling systems are capable of dealing with the size and complexity of many real world problems. However, mission critical planning is still often done by humans. Even if only a couple of plans are produced (“Master Plan” and “Plan B”), human experts evaluate multiple alternatives, think of contingencies, consider the likelihood of failure of various steps, and account fo...

For long duration, manned exploration to be cost-effective, it is necessary to automate routine manual operations. To enable such automated control, activity plans must coordinate the activities of the crew with other automated “agents” including robots, life support systems, and vehicle systems. An important challenge is assisting the crew in using automated planning software to construct and ...

We are developing a plan construction and plan execution monitoring system to automate the operation of the communications link in NASA’s Deep Space Network (DSN). The objectives of this effort are: (1) to archive knowledge of operations procedures; (2) provide a capability to assist in execution monitoring; and (3) provide a capability for automatically constructing the plan to be executed and...

Depth maps are an efficient representation of 3D free space. Encoding distance-to-camera in each pixel permits a dense, regular 2D representation of the space between a camera and the scenery it observes, which may be inspected to fulfill a useful class of object collision queries. In the proposed method, candidate poses of arbitrary 3D geometry are rendered into a depth map with depth testing ...

This paper describes a design method based on constructing a genetic/evolutionarydesign model whose idea is borrowed from natural genetics. Two major issues from the modelling involve how to represent design knowledge for the evolutionary design model and the usefulness of the model for design problems. For the representation of design knowledge in the model, a schema concept is introduced. The...

This paper introduces the reader to a new class of space science missions employing a telescope and one or more mobile external occulters. Issues important for proper science and mission planning are discussed in light of the inherent mission constraints. Recommendations for software to analyze and optimize mission efficiency and construct integrated long-range plans are provided.

Efficient algorithms for collision-free energy sub-optimal path planning for formations of spacecraft flying in deep space are presented. The idea is to introduce a set of way-points through which the spacecraft are required to pass, combined with parameterizations of the trajectories which are energy-optimal for each spacecraft. The resulting constrained optimization problem is formulated as a...

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