mpa for the suo planning and decision aid
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MPA for the SUO Planning and Decision Aid. David E. Wilkins SRI International Artificial Intelligence Center email: [email protected] URL: http://www.ai.sri.com/~wilkins June 1999. - PowerPoint PPT PresentationTRANSCRIPT
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MPA for the SUO Planning and Decision Aid
David E. Wilkins
SRI International Artificial Intelligence Centeremail: [email protected]: http://www.ai.sri.com/~wilkins
June 1999
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Long-term Contributions of PDA to the Soldier
• Shared plan representations cognizant of miltary principles, doctrine, SOPs and TTPs. Makes possible:
• Doctrinally correct plan usable by everyone.
• Fast generation of multiple distinct COAs, including ones the commander may not have considered.
• Support commander creativity through human guidance.
• Uniformly high plan quality, even during high-stress crises.
• Continuous analysis of the plan using multiple metrics.
• Monitor plan execution and respond quickly to events, helping the commander modify the plan appropriately.
• Provide relevant information to other echelons, allowing fast communication while preserving bandwidth
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Multiagent Planning Architecture (MPA)
• Agent-based framework (efficiency and modularity)
• Enable interoperation of diverse planning technologies– plan generation, scheduling, temporal reasoning, evaluation, ...
• Provide a shared plan representation
• Provide organizational structure, control strategies, and communication protocols, wrappers
• Develop planning and metaplanning agents specifically for collaborative planning and scheduling
• Support dynamic, event-driven reconfiguration of planning organization and strategies at runtime
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MPA Components
Planning Cells - organizational units for agents:
– Planning Agent (PA), Meta Planning Agent (Meta-PA)
– Planning-Cell Managers
Shared plan model and representation– based on extenstions to Act formalism
Communication ProtocolsTransport Level: robust, reuse existing technology
Content Level: high-level performatives
Plan Server - central repository for plans and related information
Process Management - extensible set of reactive control policies for implementing problem-solving strategies
Support- documentation of each agent’s I/O,
Wrappers for individual technologies
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Communication
• Messages use KQML-like performatives:
– communication performatives
– plan performatives
• MPA wrappers and libraries for:
– message passing
– multithreaded processing
– tracing and logging of messages
• Communication substrates:– KQML (Lockheed-Martin and UMBC)
– ILU (Xerox PARC)
– OAA (SRI International)
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Examples of MPA messages
Requesting solutions from the meta-PCM:
(:evaluate :content (:multiple-solve
:task “air-superiority” :advice-contexts
((“yuma” (:ingress-at-yuma :deny-air-picture))
(“yuma-sf” (:ingress-at-yuma :ingress-2-at-san-francisco
:breach-at-two-places)))))
Retrieving the plan from the plan server:
(:ask-all :content (:query-plan
:task “air-superiority” :plan “plan-yuma-sf” :view :ascii)
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MPA Plan Server
• Central repository for planning information
• Hierarchical model of plans (plans, tasks, and action networks)
• Answers queries about the plan, providing multiple views
• Supports a broad range of plan management capabilities
Annotations - declarations of high-level attributes of plans, planning processProduct Annotation: pedigree, flaws, plan quality, resource status
Process Annotation: time spent on plan components, current status
Triggers - rules used to notify cell agents of planning eventsExample: trigger notifies PCM of overutilized resource annotation,
PCM reacts by changing planning strategy
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MPA Applied to ACP
• Validate MPA by integrating several systems in DARPA Planning Initiative (TIE 97-1):
INSPECT (ISI) OPIS (CMU) Advisable Planner (SRI)
SIPE-2 (SRI) ACS (UMass) Process Panel (AIAI -UEdin)
APAT (ISX) VISAGE (MAYA)
• Domain is Air Campaign Planning– thousands of objects, several thousand nodes in each plan
– plan down to support mission level (must allocate supporting resources)
– air superiority objective only
– targets grouped into networks which depend on other networks
– network effectiveness is modeled quantitatively
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TIE 97-1 ArchitectureTIE 97-1 Architecture
Annotations
Triggers
Plan Server
Cue: (TEST (ready unit1))ACT2Cue: Answer query
ACT1
APATGUI
Plan Viewer
MPA Planning Agents MPA Agent Evaluation Toolkit
ACS VISAGE
Advisable Planner (SIPE-2)Planner (SIPE-2)Scheduler (OPIS)Planning-Cell Manager (PRS)
Inspect
ProcessMonitor
Meta Planning-Cell Manager (PRS)
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TIE 97-1Demonstrations
• Sept 98 - EFX 98, Ft. Walton Beach FL
• May 98 - ARPI Workshop, Monterey CA
• Feb 98 - DARPA, Arlington VA
• Dec 97 - JFACC PMR, San Pedro CA
• Nov 97 - ARPI Workshop, San Francisco CA
Inc r
eas i
n g C
apab
ilit
ies
DARPADARPA
SIPE-2
PAGUI/Advice Manager(AP and PRS)
Create a plan
Meta-PAPlanning-Cell Manager(PRS)
Planning-Cell Designator
Plan Complete
Request: Plan ok?
PAScheduler(OPIS)
PATemporal Reasoner(OPIS)
PATemporal Reasoner(Tachyon)
orPA (meta-PA)Critic Managerall(SIPE-2)
PA (meta-PA)Search Managerone-level(SIPE-2)
PASchedule Critic(new)
PATemporal Constraint Critic(SIPE-2)
OPIS
RequestExpandNextLevel
AgentKQML
Message
Cue: (TEST (ready unit1))ACT2
Cue: Plan One-Level
ACT1
Cue: (TEST (ready unit1))ACT2
Cue: Resource Critic
ACT1
Annotations
Triggers
Plan Server(PRS)
Cue: (TEST (ready unit1))ACT2Cue: Answer query
ACT1
Plan Complete
Create a plan
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Inside an MPA Planning Cell
Create a plan
Cell Manager(CPEF)
Cell Designator
Higher Echelon:
Plan Complete
Request: Modify plan
Platoon APDA
Planner(SIPE-2, O-Plan)
Terrain Reasoner
Fire ControlPlanner (e.g.)
AgentKQML
Message
Cue: (TEST (ready unit1))ACT2
Cue: Plan One-Level
ACT1
Cue: (TEST (ready unit1))ACT2
Cue: Resource Critic
ACT1
Annotations
Triggers
Plan Server(PRS)
Cue: (TEST (ready unit1))ACT2Cue: Answer query
ACT1
Plan Complete
New Op Order
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Company Commander
MPA PDA Cell
Platoon BPDA
Platoon CPDA
At WTA
AgentKQML
Message SRI International
PDA Cell PDA Cell
Higher Echelon Cell Manager
(CPEF)
New Order
Possibly Shared Agents
Planner SubordinatePDA
Cell Manager
Planner
Cell Manager
Cue: (TEST (ready unit1))ACT2
Cue: Plan One-Level
ACT1
Visualization/Comparison
LogisticsTerrain Reasoner
Multiple PDA Cell Configuration
New Order
PlanPlan
SubordinatePDA
Plan Server
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Opportunities Enabled by MPA
• Facilitate collaboration:– agents exchange information and influence each other
during planning
– can easily explore different degrees of collaboration
• Can more easily explore/evaluate:– different organizational units for flexible control policies
– different planning styles and strategies
– new or alternative technologies
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Support rapid, accurate military decision making in information-rich warfighting environment
The Problem
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Example MPA Performatives
:annotation Insert Delete Ask-All Ask-One:trigger Insert Delete Ask-All Ask-One:update-task Tell Delete:update-plan Tell Delete:query-task Ask-all Ask-One:query-plan Ask-All Ask-One:query-node Ask-All Ask-One:ping Evaluate:pcd Tell
Plan Performative
CommunicationPerformative
Performatives accepted by thePlan Server
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Planning Cells
• Hierarchically organized collection of planning agents
• Composed dynamially by the Planning-Cell Manager
• Planning Cell Designator (PCD) provides registry of agents to fill various roles:Planner: SIPE-2 Scheduler: OPIS
• Distribute tasks and PCD to PAs and meta-PAs
• Each cell includes a plan server
PA PA meta-PA
PA Plan Servermeta-PA
PA PA
Planning-Cell Manager
Planning cell:
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Planning Cell Manager (PCM)
• Persistent agent continuously accepting tasks
• Oversees problem-solving within a Planning Cell
• Provides a range of problem-solving behaviors and strategies – user-configurable
– can adapts strategies in response to runtime activities
• PRS-based PCM– PCD and process state encoded in PRS database
– strategies encoded in Acts
– Example strategy: expand and critique by levels
• implemented by 14 Acts
– small library of different PCMs
• various cell configurations, problem-solving strategies
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Meta Planning-Cells
• Planning cell composed of a set of planning cells
• A Meta-PCM controls and coordinates the cells
• Accepts multiple planning requests, including advice
• Distributes tasks to available planning cells
• Gathers results for possible comparison
Meta Planning-Cell:
Planning Cell
Meta Planning-Cell Manager
Planning Cell
Planning Cell
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Act Plan Server
• PRS-based Plan Server in current MPA applications
– builds on reactive control capabilities
• grounded in the Act Formalism model for plans
Task: problem to be solved, advice, assumptions
Action Networks: partial orders of activities, at multiple abstraction levels
Plan: linked sets of action networks
Nodes: individual activites (goals, actions)
• limited persistence, versioning, browsing, and no access control
AgentKQML
Message
Annotations
Triggers
Plan Server
Cue: (TEST (ready unit1))ACT2Cue: Answer query
ACT1
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Planning Cell Planning Cell
Meta Planning- Cell Manager
(PRS)task solved
task solved
request solutionto task
request solutionto task
Shared Agents
SearchManager
CriticManager
Planning-Cell Manager
Shared Agents
SearchManager
CriticManager
Planning-Cell Manager
Cue: (TEST (ready unit1))ACT2
Cue: Plan One-Level
ACT1
Visualization/Comparison
Scheduler
Simulator
Temporal Reasoner
MPA Multiple Planning-Cell Configuration