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Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh, CEO, Near Earth Autonomy Research Professor, Carnegie Mellon Robotics Institute 1
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Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Sep 21, 2020

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Page 1: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Lessons Learned in Implementing Autonomy

NASA workshop on Enabling Autonomous Flight & Operations in the NAS

August, 2019

Sanjiv Singh, CEO, Near Earth AutonomyResearch Professor, Carnegie Mellon Robotics Institute

1

Page 2: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Sense/Plan/Act/Interact

Outer loop layered on top of flight control

Dealing with Contingencies

What is Autonomy?

2

Fly safe, Land Safe, Do it Without GPS,

Even when things go wrong

Page 3: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Progression of Autonomy on the Ground

3

1986: 1 m/s 1995: 5 m/s 2007: 10 m/s

2014: 30 m/s 2018: 15 m/s

Page 4: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Localization: Where am I?Classification: What kinds of objects are around me?Prediction: How are these objects likely to move?Planning: How do I get to goal given hazards?

Key Problems

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Page 5: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Extension to the Air

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2014: 50 m/s 2016: 15 m/s

Page 6: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Localization: Where am I?Classification: What kinds of objects are around me?Prediction: How are these objects likely to move?Planning: How do I get to goal given hazards?Contingency Management: How do I deal with failure

Key Problems

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Page 7: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Scalable Autonomy

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2006

RMAX (20 kn)

2010

AH-6 (40 kn)

2017

UH-1 (100 kn)

2014

AH-6 (100 kn)

20182018 2018

Page 8: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Near Earth provides autonomy solutions for every stage of flight.

Autonomy by Stages of Flight

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Page 9: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Lesson: Awareness of Environment is essential

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Page 10: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

UAS rely on accurate, high-frequency state (6/12 DOF) for stability and safetyState is most needed at low elevations when the vehicle is flying close to terrain, vegetation & structures.…Exactly when accurate GPS is least assured.

Robust Navigation

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Conventional Wisdom: use odometry (visual/inertial) as base. Update with global fixes (GPS/landmarks) when available.

Page 11: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

A mission

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Page 12: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Navigation without GPS

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Page 13: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

What we can do today with out GPS

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Page 14: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

CW for affordable sytems results in

Conflicting needs

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Navigation ControlCollision Avoidance, Safe Landing

Reference Frame Inertial Inertial Relative

Measurements Position Position, Velocity, Attitude

Position, Velocity, Attitude

Corrections Immediate Smooth None

Jump Drift

Estimate

True State

Jitter

Page 15: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Awareness of the immediate world

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Page 16: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Autonomous Landing in Complex Terrain

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Page 17: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Scaling down

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Page 18: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Lesson: Autonomous Operation at scale in NAS needs shared control paradigm

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Page 19: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

In the not too distant future (circa 2010)

Page 20: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Control Modes

Page 21: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Crashless vehicle

Page 22: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Condition Workload Precision Decision Making Efficiency

Human Poor Poor Good Poor

Automation Good Good Poor Good

Human + Automation Good Good Good Good

Adjustable autonomy

Page 23: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Lesson: Testing Autonomy safely requires human in the loop

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Page 24: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Testing autonomy

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Page 25: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Testing autonomy

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Page 26: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Captive carry of sensing/computing Pilot closes the loop with good displayOperator uses Adjustable AutonomyFull Autonomous Operation

4 Steps to push button autonomy

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Page 27: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,

Auto Driving Auto Flying

Navigation

Detection of hazards in environment

Classification of Objects

Prediction of (potentially) moving objectsContingencies in case of failure

Countering willful misuse

Difficulty Relative to State of the Art

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Page 28: Lessons Learned in Implementing Autonomy · Lessons Learned in Implementing Autonomy NASA workshop on Enabling Autonomous Flight & Operations in the NAS August, 2019 Sanjiv Singh,