Skip to content
Snippets Groups Projects
Commit f2416d5e authored by Brutzman, Don's avatar Brutzman, Don
Browse files

corrected mission sequence, see diagnostic analysis in teams chat

parent 69586148
No related branches found
No related tags found
No related merge requests found
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<AVCL version="3.0" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.0.xsd"> <AVCL version="3.0" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.0.xsd">
<head> <head>
<meta name="title" content="SailorOverboard.xml"/> <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."/> <meta name="description" content="AVCL mission to perform SAILOR OVERBOARD operations, carried out in concert with shipboard emergency procedures."/>
<meta name="created" content="19 November 2019"/> <meta name="created" content="19 November 2019"/>
<meta name="modified" content="31 December 2019"/> <meta name="modified" content="9 June 2022"/>
<meta name="creator" content="Don Brutzman"/> <meta name="creator" content="Don Brutzman"/>
<meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/>
<meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/SailorOverboard8PhaseMission.png"/> <meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/SailorOverboard8PhaseMission.png"/>
<meta name="generator" content="Altova XMLSpy, https://www.altova.com"/> <meta name="generator" content="Altova XMLSpy, https://www.altova.com"/>
<meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/> <meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/>
<meta name="generator" content="NPS Autonomous Unmanned Vehicle (AUV) Workbench, https://savage.nps.edu/AuvWorkbench"/> <meta name="generator" content="NPS Autonomous Unmanned Vehicle (AUV) Workbench, https://savage.nps.edu/AuvWorkbench"/>
<meta name="identifier" content="https://gitlab.nps.edu/Savage/EthicalControl/tree/master/missions/avcl/SailorOverboard.xml"/> <meta name="identifier" content="https://gitlab.nps.edu/Savage/EthicalControl/tree/master/missions/avcl/SailorOverboard.xml"/>
<meta name="license" content="../license.html"/> <meta name="license" content="../license.html"/>
</head> </head>
<body> <body>
<MissionPreparation> <MissionPreparation>
<UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/>
<AgendaMission> <AgendaMission>
<LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched">
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</LaunchPosition> </LaunchPosition>
<RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot">
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</RecoveryPosition> </RecoveryPosition>
<GoalList> <GoalList>
<Goal id="Goal1" title="Deploy, Launch" description="Sailor Overboard Immediate Action" phase="Launch" nextOnSuccess="Goal2" nextOnFailure="Goal2" nextOnException="Goal5"> <Goal id="Goal1" title="Deploy, Launch" description="Sailor Overboard Immediate Action" phase="Launch" nextOnSuccess="Goal2" nextOnFailure="Goal7" nextOnException="Goal8">
<Rendezvous description=""> <Rendezvous description="">
<TargetVehicleID value="101" description="Sailor in water"/> <TargetVehicleID value="101" description="Sailor in water"/>
</Rendezvous> </Rendezvous>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="36.62" longitude="121.506"/> <LatitudeLongitude latitude="36.62" longitude="121.506"/>
<!--36°36′11″N 121°53′37″W--> <!--36°36′11″N 121°53′37″W-->
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="300"/> <Duration value="300"/>
<ReportingCriteria value="onCommence"/> <ReportingCriteria value="onCommence"/>
<ReportingCriteria value="periodic"/> <ReportingCriteria value="periodic"/>
<ReportingCriteria value="statusChanged"/> <ReportingCriteria value="statusChanged"/>
<ReportingCriteria value="onComplete"/> <ReportingCriteria value="onComplete"/>
</Goal> </Goal>
<Goal id="Goal2" title="Rendezvous with Sailor" description="Go directly to best known location" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal3" nextOnException="Goal5"> <Goal id="Goal2" title="Rendezvous with Sailor" description="Go directly to best known location" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal3" nextOnException="Goal5">
<Search datumType="point" requiredPD="0.5"> <Search datumType="point" requiredPD="0.5">
<Target name="Sailor in water" id="SailorInWater"/> <Target name="Sailor in water" id="SailorInWater"/>
</Search> </Search>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="6000"/> <Duration value="6000"/>
</Goal> </Goal>
<Goal id="Goal3" title="Search for Sailor " description="Sailor position not known, intermittent" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal5" nextOnException="Goal5"> <Goal id="Goal3" title="Search for Sailor " description="Sailor position not known, intermittent" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal5" nextOnException="Goal5">
<MarkTarget description="TODO ensure beacon/pinger in water"> <MarkTarget description="TODO ensure beacon/pinger in water">
<Marker type="dyeMarker"/> <Marker type="dyeMarker"/>
<Target name="Sailor in water" id="SailorInWater2" description="TODO need refid to avoid duplicatess and have single reference"/> <Target name="Sailor in water" id="SailorInWater2" description="TODO need refid to avoid duplicatess and have single reference"/>
</MarkTarget> </MarkTarget>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="6000"/> <Duration value="6000"/>
</Goal> </Goal>
<Goal id="Goal4" title="Track Sailor afloat until safe" description="Watch closely, not to interfere with rescue operations" phase="Track" nextOnSuccess="Goal5" nextOnFailure="Goal5" nextOnException="Goal5"> <Goal id="Goal4" title="Track Sailor afloat until safe" description="Watch closely, not to interfere with rescue operations" phase="Track" nextOnSuccess="Goal5" nextOnFailure="Goal5" nextOnException="Goal5">
<MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/> <MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="6000"/> <Duration value="6000"/>
</Goal> </Goal>
<Goal id="Goal5" title="Proceed to Recovery" description="Mission complete, prepare for pickup" phase="Mission Finish" nextOnSuccess="Goal6" nextOnFailure="Goal2" nextOnException="Goal6"> <Goal id="Goal5" title="Proceed to Recovery" description="Mission complete, prepare for pickup" phase="Mission Finish" nextOnSuccess="Goal6" nextOnFailure="Goal7" nextOnException="Goal8">
<Reposition description="Return to ship or other recovery point"> <Reposition description="Return to ship or other recovery point">
</Reposition> </Reposition>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="6000"/> <Duration value="6000"/>
</Goal> </Goal>
<Goal id="Goal6" title="Halt and prepare for recovery" phase="Recover Robot" description="Operations complete, final success state"> <Goal id="Goal6" title="Halt and prepare for recovery" phase="Recover Robot" description="Operations complete, final success state">
<Rendezvous description=""> <Rendezvous description="">
<TargetVehicleID value="102" description="Recovery ship"/> <TargetVehicleID value="102" description="Recovery ship"/>
</Rendezvous> </Rendezvous>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="6000"/> <Duration value="6000"/>
</Goal> </Goal>
<Goal id="Goal7" title="Halt and deploy recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state"> <Goal id="Goal7" title="Halt and deploy recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state">
<Rendezvous description=""> <Rendezvous description="">
<TargetVehicleID value="102" description="Recovery ship"/> <TargetVehicleID value="102" description="Recovery ship"/>
</Rendezvous> </Rendezvous>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="6000"/> <Duration value="6000"/>
</Goal> </Goal>
<Goal id="Goal8" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state"> <Goal id="Goal8" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state">
<Rendezvous description=""> <Rendezvous description="">
<TargetVehicleID value="102" description="Recovery ship"/> <TargetVehicleID value="102" description="Recovery ship"/>
</Rendezvous> </Rendezvous>
<OperatingArea> <OperatingArea>
<Point> <Point>
<LatitudeLongitude latitude="0" longitude="0"/> <LatitudeLongitude latitude="0" longitude="0"/>
</Point> </Point>
</OperatingArea> </OperatingArea>
<Duration value="6000"/> <Duration value="6000"/>
</Goal> </Goal>
</GoalList> </GoalList>
</AgendaMission> </AgendaMission>
</MissionPreparation> </MissionPreparation>
</body> </body>
</AVCL> </AVCL>
...@@ -115,7 +115,7 @@ ...@@ -115,7 +115,7 @@
(setf terminal-goal-list '(goalGoal6 goalGoal7 goalGoal8)) (setf terminal-goal-list '(goalGoal6 goalGoal7 goalGoal8))
(initialize-goal goalGoal1 "Goal1: Deploy, Launch - Sailor Overboard Immediate Action" (initialize-goal goalGoal1 "Goal1: Deploy, Launch - Sailor Overboard Immediate Action"
'(("Success." goalGoal2) ("Failed." goalGoal2) ("Exception." goalGoal5))) '(("Success." goalGoal2) ("Failed." goalGoal7) ("Exception." goalGoal8)))
(initialize-goal goalGoal2 "Goal2: Rendezvous with Sailor - Go directly to best known location" (initialize-goal goalGoal2 "Goal2: Rendezvous with Sailor - Go directly to best known location"
'(("Success." goalGoal4) ("Failed." goalGoal3) ("Exception." goalGoal5))) '(("Success." goalGoal4) ("Failed." goalGoal3) ("Exception." goalGoal5)))
...@@ -127,7 +127,7 @@ ...@@ -127,7 +127,7 @@
'(("Success." goalGoal5) ("Failed." goalGoal5) ("Exception." goalGoal5))) '(("Success." goalGoal5) ("Failed." goalGoal5) ("Exception." goalGoal5)))
(initialize-goal goalGoal5 "Goal5: Proceed to Recovery - Mission complete, prepare for pickup" (initialize-goal goalGoal5 "Goal5: Proceed to Recovery - Mission complete, prepare for pickup"
'(("Success." goalGoal6) ("Failed." goalGoal2) ("Exception." goalGoal6))) '(("Success." goalGoal6) ("Failed." goalGoal7) ("Exception." goalGoal8)))
(initialize-goal goalGoal6 "Goal6: Halt and prepare for recovery - Operations complete, final success state" nil) (initialize-goal goalGoal6 "Goal6: Halt and prepare for recovery - Operations complete, final success state" nil)
......
...@@ -16,8 +16,8 @@ ...@@ -16,8 +16,8 @@
(<-- (execute_goal 'Goal1) (command "Goal1: Deploy, Launch - Sailor Overboard Immediate Action") (update_outcome) ; initial goal, by default (<-- (execute_goal 'Goal1) (command "Goal1: Deploy, Launch - Sailor Overboard Immediate Action") (update_outcome) ; initial goal, by default
(current_goal_outcome s) (change_goal 'Goal1 'Goal2)) (current_goal_outcome s) (change_goal 'Goal1 'Goal2))
(<- (execute_goal 'Goal1) (current_goal_outcome f) (change_goal 'Goal1 'Goal2)) (<- (execute_goal 'Goal1) (current_goal_outcome f) (change_goal 'Goal1 'Goal7))
(<- (execute_goal 'Goal1) (current_goal_outcome x) (change_goal 'Goal1 'Goal5)) (<- (execute_goal 'Goal1) (current_goal_outcome x) (change_goal 'Goal1 'Goal8))
(<- (execute_goal 'Goal2) (command "Goal2: Rendezvous with Sailor - Go directly to best known location") (update_outcome) (<- (execute_goal 'Goal2) (command "Goal2: Rendezvous with Sailor - Go directly to best known location") (update_outcome)
(current_goal_outcome s) (change_goal 'Goal2 'Goal4)) (current_goal_outcome s) (change_goal 'Goal2 'Goal4))
(<- (execute_goal 'Goal2) (current_goal_outcome f) (change_goal 'Goal2 'Goal3)) (<- (execute_goal 'Goal2) (current_goal_outcome f) (change_goal 'Goal2 'Goal3))
...@@ -32,8 +32,8 @@ ...@@ -32,8 +32,8 @@
(<- (execute_goal 'Goal4) (current_goal_outcome x) (change_goal 'Goal4 'Goal5)) (<- (execute_goal 'Goal4) (current_goal_outcome x) (change_goal 'Goal4 'Goal5))
(<- (execute_goal 'Goal5) (command "Goal5: Proceed to Recovery - Mission complete, prepare for pickup") (update_outcome) (<- (execute_goal 'Goal5) (command "Goal5: Proceed to Recovery - Mission complete, prepare for pickup") (update_outcome)
(current_goal_outcome s) (change_goal 'Goal5 'Goal6)) (current_goal_outcome s) (change_goal 'Goal5 'Goal6))
(<- (execute_goal 'Goal5) (current_goal_outcome f) (change_goal 'Goal5 'Goal2)) (<- (execute_goal 'Goal5) (current_goal_outcome f) (change_goal 'Goal5 'Goal7))
(<- (execute_goal 'Goal5) (current_goal_outcome x) (change_goal 'Goal5 'Goal6)) (<- (execute_goal 'Goal5) (current_goal_outcome x) (change_goal 'Goal5 'Goal8))
(<- (execute_goal 'Goal6) (command "Goal6: Halt and prepare for recovery - Operations complete, final success state") (update_outcome) (<- (execute_goal 'Goal6) (command "Goal6: Halt and prepare for recovery - Operations complete, final success state") (update_outcome)
(current_goal_outcome s) (change_goal 'Goal6 'mission_complete)) (current_goal_outcome s) (change_goal 'Goal6 'mission_complete))
(<- (execute_goal 'Goal6) (current_goal_outcome f) (change_goal 'Goal6 'mission_abort)) (<- (execute_goal 'Goal6) (current_goal_outcome f) (change_goal 'Goal6 'mission_abort))
......
...@@ -22,8 +22,8 @@ owl:imports <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOn ...@@ -22,8 +22,8 @@ owl:imports <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOn
:Goal1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ; :Goal1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
meo:hasNextOnSuccess :Goal2 ; meo:hasNextOnSuccess :Goal2 ;
meo:hasNextOnFailure :Goal2 ; meo:hasNextOnFailure :Goal7 ;
meo:hasNextOnException :Goal5 ; meo:hasNextOnException :Goal8 ;
meo:isPartOfPhase "Launch" ; meo:isPartOfPhase "Launch" ;
rdfs:comment "Deploy, Launch: Sailor Overboard Immediate Action" . rdfs:comment "Deploy, Launch: Sailor Overboard Immediate Action" .
...@@ -50,8 +50,8 @@ owl:imports <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOn ...@@ -50,8 +50,8 @@ owl:imports <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOn
:Goal5 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ; :Goal5 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
meo:hasNextOnSuccess :Goal6 ; meo:hasNextOnSuccess :Goal6 ;
meo:hasNextOnFailure :Goal2 ; meo:hasNextOnFailure :Goal7 ;
meo:hasNextOnException :Goal6 ; meo:hasNextOnException :Goal8 ;
meo:isPartOfPhase "Mission Finish" ; meo:isPartOfPhase "Mission Finish" ;
rdfs:comment "Proceed to Recovery: Mission complete, prepare for pickup" . rdfs:comment "Proceed to Recovery: Mission complete, prepare for pickup" .
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment