Embedded Software Technologies for Dynamic Goal Determination and Execution

The proposed innovation is a solution that combines efficient dynamicallyreconfigurable embedded software and extensions to model-based reasoning (MBR)to enable on-board planning, real-time control, and failure management of complex autonomous systems. The solution leverages Embedded Research Solutions (ERS)'s expertise in the area of embedded real-time systems and merges recent advances by Johns Hopkins University Applied Physics Laboratory (JHU/APL) and the Massachusetts Institute of Technology (MIT) in the area of MBR. ERS has used a state-based approach to building dynamically reconfigurably software, through the creation of resource-savvy real-time frameworks and software components for control and communication applications. This technology provides the underpinnings to incorporate JHU/APL's newest results in MBR, namely expressive state definitions, into MIT's second generation MBR system TITAN, and shrinking the resulting reasoning engine to a size suitable for on-board real-time processing in autonomous systems.