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Commit 263a63bb authored by Brutzman, Don's avatar Brutzman, Don
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Baseline AVCL template and example mission for IS3460 course, Networked Autonomous Unmanned Systems

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EthicalControlXmlSpyProject.spp
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......@@ -19,6 +19,7 @@
<File FilePath="ontologies\MissionExecutionOntology3.0.ttl" HomeFolder="Yes"/>
<File FilePath="ontologies\MissionExecutionOntology3.1-DADM.tests.txt" HomeFolder="Yes"/>
<File FilePath="ontologies\MissionExecutionOntology3.1-DADM.ttl" HomeFolder="Yes"/>
<File FilePath="ontologies\MissionExecutionOntology3.1.owl" HomeFolder="Yes"/>
</Folder>
<Folder FolderName="Queries" ExtStr=".ttl,.rq,.txt">
<File FilePath="queries\MissionExecutionOntologyQuery_01.rq" HomeFolder="Yes"/>
......
missions/avcl/HospitalShipEmDecoy1.Opponent.xml
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<?xml version="1.0" encoding="UTF-8"?>
<AVCL version="3.1" vehicleName="Opponent small boat" vehicleType="USV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd">
<AVCL version="3.0" vehicleName="Opponent small boat" vehicleType="USV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.0.xsd">
<head>
<meta name="title" content="HospitalShipEmDecoy1.Opponent.xml"/>
<meta name="description" content="AVCL mission where foe plants false flag electromagnetic (EM) decoy devices to provoke blue-on-blue robot swarm attack"/>
......
missions/avcl/IS3460/AvclMissionGoalsTemplate.xml 0 → 100644
View file @ 263a63bb
<?xml version="1.0" encoding="UTF-8"?>
<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd">
<!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" -->
<!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" -->
<head>
<meta name="title" content="AvclMissionGoalsTemplate.xml"/>
<meta name="description" content="Example mission to serve as template for new versions."/>
<meta name="created" content="4 August 2022"/>
<meta name="modified" content="31 August 2022"/>
<meta name="creator" content="Don Brutzman"/>
<meta name="reference" content="https://www.savage.nps.edu/EthicalControl"/>
<meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/>
<meta name="generator" content="Altova XMLSpy, https://www.altova.com"/>
<meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/>
<meta name="identifier" content="TODO"/>
<meta name="license" content="../license.html"/>
</head>
<body>
<UnitsOfMeasure distance="yards" angle="degrees" mass="kilograms" time="seconds"/>
<!-- TODO Vehicle vehicleName="RescueDrone" vehicleType="UAV" -->
<MissionAgenda description=".">
<GoalList>
<Goal id="Goal0" title="Deploy, Launch" description="Launch robot" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal99" nextOnException="Goal99">
<Reposition description="Leave dock, proceed to basin"/>
<!-- TODO Risk personnel clear -->
</Goal>
<Goal id="Goal1" title="New Goal Name" description="provide a description" phase="Transit" nextOnSuccess="Goal2" nextOnFailure="Goal99" nextOnException="Goal99">
<SpecialGoal description="TODO"/>
</Goal>
<Goal id="Goal2" title="New Goal Name" description="provide a description" phase="Retrieval" nextOnSuccess="Goal3" nextOnFailure="Goal99" nextOnException="Goal99">
<SpecialGoal description="TODO"/>
</Goal>
<Goal id="Goal3" title="New Goal Name" description="provide a description" phase="Retrieval" nextOnSuccess="Goal4" nextOnFailure="Goal99" nextOnException="Goal99">
<SpecialGoal description="TODO"/>
</Goal>
<Goal id="Goal4" title="New Goal Name" description="provide a description" phase="Retrieval" nextOnSuccess="Goal99" nextOnFailure="Goal99" nextOnException="Goal99">
<SpecialGoal description="TODO"/>
</Goal>
<Goal id="Goal99" title="Return and recover" description="Retrieve if possible" phase="Recover Robot" nextOnSuccess="Goal99.1_TerminalSuccess" nextOnFailure="Goal99.2_TerminalFailute" nextOnException="Goal99.3_TerminalFailure">
<Reposition description="Return to dock for recovery"/>
<!-- TODO Risk personnel clear -->
</Goal>
<Goal id="Goal99.1_TerminalSuccess" title="Halt and perform post-mission shutdown" phase="Recover Robot" description="Operations complete, final success state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal99.2_TerminalFailute" title="Halt and activate recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal99.3_TerminalFailure" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Duration value="6000"/>
</GoalList>
<LaunchPosition id="LaunchPosition" description="Ship position when robot is launched">
<LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/>
</LaunchPosition>
<RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot">
<!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes -->
<LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/>
</RecoveryPosition>
</MissionAgenda>
</body>
</AVCL>
\ No newline at end of file
missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml 0 → 100644
View file @ 263a63bb
<?xml version="1.0" encoding="UTF-8"?>
<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd">
<!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" -->
<!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" -->
<head>
<meta name="title" content="CoffeeSearchRetrievalMission.xml"/>
<meta name="description" content="Simple mission: send drone to get a cup of coffee and bring it back to classroom."/>
<meta name="created" content="4 August 2022"/>
<meta name="modified" content="8 August 2022"/>
<meta name="creator" content="Don Brutzman"/>
<meta name="reference" content="https://www.savage.nps.edu/EthicalControl"/>
<meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/>
<meta name="generator" content="Altova XMLSpy, https://www.altova.com"/>
<meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/>
<meta name="identifier" content="TODO"/>
<meta name="license" content="../license.html"/>
</head>
<body>
<UnitsOfMeasure distance="yards" angle="degrees" mass="kilograms" time="seconds"/>
<MissionAgenda description="Goals include list of transit waypoints, supply pickup from Starbucks or Cafe Del Monte, then return to classroom.">
<GoalList>
<Goal id="Goal0" title="Deploy, Launch" description="Launch robot" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal3" nextOnException="Goal3">
<Reposition description="Leave dock, proceed to basin"/>
<!-- TODO Risk personnel clear -->
</Goal>
<Goal id="Goal1" title="Transit safely" description="Set of waypoints" phase="Transit" nextOnSuccess="Goal2.1" nextOnFailure="Goal3" nextOnException="Goal3">
<Reposition description="Follow set of waypoints"/>
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal2.1" title="Get Coffee" description="Starbucks" phase="Retrieval" nextOnSuccess="Goal3" nextOnFailure="Goal3" nextOnException="Goal3">
<Supply description="Pickup coffee"/>
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal2.2" title="Get Coffee" description="Cafe Del Monte" phase="Retrieval" nextOnSuccess="Goal3" nextOnFailure="Goal3" nextOnException="Goal3">
<Supply description="Pickup coffee"/>
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal3" title="Transit safely" description="Set of waypoints" phase="Transit" nextOnSuccess="Goal3" nextOnFailure="Goal3" nextOnException="Goal3">
<Reposition description="Follow set of waypoints"/>
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal99" title="Return and recover" description="Land on dock" phase="Recover Robot" nextOnSuccess="Goal99.1_TerminalSuccess" nextOnFailure="Goal99.2_TerminalFailute" nextOnException="Goal99.3_TerminalFailure">
<Reposition description="Return to classroom"/>
<!-- TODO Risk personnel clear -->
</Goal>
<Goal id="Goal99.1_TerminalSuccess" title="Halt and perform post-mission shutdown" phase="Recover Robot" description="Operations complete, final success state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal99.2_TerminalFailute" title="Halt and activate recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal99.3_TerminalFailure" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Duration value="6000"/>
</GoalList>
<LaunchPosition id="LaunchPosition" description="Ship position when robot is launched">
<LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/>
</LaunchPosition>
<RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot">
<!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes -->
<LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/>
</RecoveryPosition>
</MissionAgenda>
</body>
</AVCL>
\ No newline at end of file
missions/avcl/SailorOverboard.xml
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<?xml version="1.0" encoding="UTF-8"?>
<AVCL version="3.1" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd">
<AVCL version="3.0" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://savage.nps.edu/EthicalControl/schemas/AVCL.3.0.xsd">
<head>
<meta name="title" content="SailorOverboard.xml"/>
<meta name="description" content="AVCL mission to perform SAILOR OVERBOARD operations, carried out in concert with shipboard emergency procedures."/>
......
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