Rover Executive for LITA

1
Rover Executive for LITA

• Vijay Baskaran, Nicola Muscettola
• NASA Ames Research Center

2
Schematic of the Executive
IDEA Executive
TEMPEST
State information, Replan request
Go to waypoint
Heartbeat
Done
Health Monitor
Navigator
3
The IDEA Core
4
Timeline and token definition (an example)
.
Stationary (Standby,..) Duration 1, infinity)
Moving (?status)
Stationary (Standby,..)
RoverState_SV
0
t1,t2
t3,t4
5
IDEA based Rover Executive (Nominal)
0
Idle()
ExternalPlanner_SV
Standby()
Executive_SV
Stationary (Standby)
RoverState_SV
6
IDEA based Rover Executive (Replan)
t1.5
Idle()
Call_TEMPEST()
Idle()
ExternalPlanner_SV
t1
t2
Standby()
DriveAction()
Executive_SV
t3,t4
Stationary (Standby)
Moving()
RoverState_SV
t3,t4
7
Scenarios tested

• Used the test_tempest utility
• Generated 15 waypoints
• Cases tested so far
• Nominal
• Early return
• No return (time out)
• Failed status returned