Remote Agent Publications

Remote Agent Overview

• Ground Tools for the 21st Century , Kanna Rajan, Mark Shirley, Will Taylor and Bob Kanefsky, Proceedings of IEEE Aerospace Conference, Big Sky, MT, 2000.
• Final Report on the Remote Agent Experiement, NMP DS-1 Technology Validation Symposium Feb 8th and 9th 2000, Pasadena, CA
• Spacecraft Autonomy Flight Experience: The DS1 Remote Agent Experiment
  Douglas Bernard , Gregory Dorais , Edward Gamble, Bob Kanefsky, James Kurien, Guy K. Man, William Millar, Nicola Muscettola, Pandurang Nayak, Kanna Rajan, Nicolas Rouquette, Benjamin Smith, William Taylor, Yu-Wen Tung
  Proceedings of the AIAA 1999 Albuquerque NM.
• Validating the DS1 Remote Agent Experiment
  P. Pandurang Nayak and Douglas E. Bernard and Gregory Dorais and Edward B. Gamble Jr. and Bob Kanefsky and James Kurien and William Millar and Nicola Muscettola and Kanna Rajan and Nicolas Rouquette and Benjamin D. Smith and William Taylor and Yu-wen Tung
  Proceedings of the 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS-99).
• Remote Agent: To Boldly Go Where No AI System Has Gone Before.
  Nicola Muscettola, P. Pandurang Nayak, Barney Pell, and Brian Williams. Artificial Intelligence 103(1-2):5-48, August 1998. Abstract. This is a journal article based on an Invited Talk presented at IJCAI-97 in Nayoga, Japan.
• Design of the Remote Agent Experiment for Spacecraft Autonomy
  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. Proceedings of IEEE Aerospace Conference, Snomass, CO, 1998.
• An Autonomous Spacecraft Agent Prototype.
  Barney Pell, Douglas E. Bernard, Steven A. Chien, Erann Gat, Nicola Muscettola, P. Pandurang Nayak, Michael D. Wagner, and Brian C. Williams. Autonomous Robots 5(1), March, 1998. Abstract. This is the full-length journal article on the prototype NMRA architecture.
• Designed for Autonomy: Remote Agent for the New Millennium Program.
  Douglas E. Bernard and Barney Pell. Proceedings of the Fourth International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS), 1997. Abstract.
• A Remote Agent Prototype for Spacecraft Autonomy.
  Barney Pell, Douglas E. Bernard, Steven A. Chien, Erann Gat, Nicola Muscettola, P. Pandurang Nayak, Michael D. Wagner, and Brian C. Williams. In Proceedings of the SPIE Conference on Optical Science, Engineering, and Instrumentation, 1996. Abstract. This is the original paper on the Remote Agent architecture used in Newmap.
• An Autonomous Spacecraft Agent Prototype.
  Barney Pell, Douglas E. Bernard, Steven A. Chien, Erann Gat, Nicola Muscettola, P. Pandurang Nayak, Michael D. Wagner, and Brian C. Williams. In Proceedings of the First International Conference on Autonomous Agents, Marina del Rey, CA 1997.Abstract PDF Version. This is an updated version of the NMRA architecture paper, with fewer details of the spacecraft domain.

Planning and Scheduling Capabilities

• Automating Mission Scheduling for Space-Based Observatories.
  Nicola Muscettola, Barney Pell, Othar Hansson, and Sunil Mohan. In G.W. Henry and J.A. Eaton, eds, Robotic Telescopes: Current Capabilities, Present Developments, and Future Prospects for Automated Astronomy. Provo, UT: Astronomical Society of the Pacific, ASP Conference Series number 79, 1995. Abstract.
• On-board planning for autonomous spacecraft.
  N. Muscettola, B. Smith, S. Chien, C. Fry, G. Rabideau, K. Rajan, and D. Yan. In Proceedings of the Fourth International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS),July 1997.
• Issues in Temporal Reasoning for Autonomous Control Systems.
  Nicola Muscettola, Paul Morris, Barney Pell, and Ben Smith. In Proceedings of the Second International Conference on Autonomous Agents, Minneapolis, MI 1998. Abstract.
• Fast transformation of temporal plans for efficient execution.
  I. Tsamardinos, N. Muscettola, and P. Morris.. In Proceedings of the Fifteenth National Conference on Artificial Intelligence (AAAI-98).
• Managing Temporal Uncertainty Through Waypoint Controllability.
  Paul Morris and Nicola Muscettola. In Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence (IJCAI-99)
• Planning in Interplanetary Space: Theory and Practice, Ari Jonsson, Paul Morris, Nicola Muscettola, Kanna Rajan and Ben Smith, Proceedings of the 5th AIPS, Breckenridge, CO 2000

Plan Execution Capabilities

• Robust Periodic Planning and Execution for Autonomous Spacecraft.
  Barney Pell, Erann Gat, Ron Keesing, Nicola Muscettola, and Ben Smith. Proceedings of IJCAI-97. Abstract.
• A Hybrid Procedural/Deductive Executive For Autonomous Spacecraft.
  Barney Pell, Ed Gamble, Erann Gat, Ron Keesing, James Kurien, Bill Millar, P. Pandurang Nayak, Christian Plaunt, and Brian Williams. In Proceedings of the Second International Conference on Autonomous Agents, Minneapolis, MI 1998, to appear. Abstract.
• Abstract Resource Management in an Unconstrained Plan Execution System.
  Erann Gat and Barney Pell. In Proceedings of IEEE Aerospace Conference, Snomass, CO, 1998.
• The Remote Agent Executive: Capabilities to Support Integrated Robotic Agents.
  Barney Pell, Gregory A. Dorais, Christian Plaunt and Richard Washington. Submitted to Autonomous Robotics Journal, for publication in 1999.

Model-based Diagnosis, Reconfiguration and Control

• Model-based Autonomous Systems Overview
  Brian C. Williams and P. Pandurang Nayak. Immobile Robots: AI in the New Millennium. AI Magazine, Fall 1996.
• Livingstone: Onboard model-based configuration and health management.
  Brian C. Williams and P. Pandurang Nayak. 1996. A Model-based Approach to Reactive Self-Configuring Systems. In Proceedings of AAAI-96.
• ITMS: A kernel for fast, on-line, propositional inference.
  P. Pandurang Nayak and Brian C. Williams. Fast Context Switching in Real-time Propositional Reasoning. Best paper prize winner, in Proceedings of AAAI-97.

Potential Applications on Mars

• Adjustable Autonomy for Human-Centered Autonomous Systems on Mars.
  Gregory A. Dorais, R. Peter Bonasso, David Kortenkamp, Barney Pell, and Debra Schreckenghost. In Proceedings of the First International Conference of the Mars Society, Aug/98. To appear.
• Autonomous Rovers for Human Exploration of Mars.
  John Bresina, Gregory A. Dorais, Keith Golden, David E. Smith, Richard Washington. In Proceedings of the First International Conference of the Mars Society, Aug/98.
• Model-based Autonomy for Robust Mars Operations
  James Kurien, Pandu Nayak, Brian Williams. In Proceedings of the First International Conference of the Mars Society, Aug/98.