Jorge Ocon

Mission Operations and Autonomy

Contemporary Planetary Robotics, 2016

This document constitutes the MARTES project deliverable D1.1 "Current limitations of best practi... more This document constitutes the MARTES project deliverable D1.1 "Current limitations of best practices". The objective is to analyze the limitations of selected relevant methodology approaches in order to focus the MARTES research work on profound methodological issues, and to learn from the experiences and solutions experimented in the best practices. Each of the contributors to the deliverable has analyzed one or more approaches either based on their knowledge of using the methodology or on careful studies of published papers and documents. Chapter 1 summarizes the expected features and properties of the MARTES methodology. Chapter 2 describes the analysis results of 10 relevant approaches. Chapter 3 describes approaches and needs of participating companies. Chapter 4 deals with approaches that university and research partners have used. Chapter 5 presents a summary of observations. ITEA 04006 Current limitations of best practices Deliverable ID: 1.1

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An Architecture for Autonomous Rovers on Future Planetary Missions

LPICo, Apr 1, 2018

COROB-X: A Cooperative robot team for the exploration of lunar skylights

Zenodo (CERN European Organization for Nuclear Research), Jun 1, 2022

The project CoRob-X develops and demonstrates enabling technologies for multi-agent robotic teams... more The project CoRob-X develops and demonstrates enabling technologies for multi-agent robotic teams to explore planetary surfaces with a focus on hard-to-reach areas where a collaborative scheme is required to efficiently explore complex environments. Exploring lava tubes is such a challenging environment and requires a team of robots able to collaborate in an autonomous way to find their way to the subsurface tube system, descend through a natural entry hole (the so-called skylight), and explore the interior with payload instruments to provide scientific data. The developed robotic exploration system that will tackle the ambitious goal is composed of three rovers with substantially different technical characteristics. The paper presents the overall approach, i.e., the control architecture, the robotic systems, and the software to be used. It also showcases the selected mission phases that will be demonstrated in a field-test campaign. In addition, a terrestrial mining use case is presented that demonstrates how the developed autonomy-enabling software can be transferred to terrestrial applications.

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Ergo:A Framework for the Development of Autonomous Robots

If citing, it is advised that you check and use the publisher's definitive version for pagination... more If citing, it is advised that you check and use the publisher's definitive version for pagination, volume/issue, and date of publication details. And where the final published version is provided on the Research Portal, if citing you are again advised to check the publisher's website for any subsequent corrections.

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The ERGO framework and its use in planetary/orbital scenarios

by Jorge Ocon and T. Keller

ERGO (European Robotic Goal-Oriented Autonomous Controller) [1] is one of the six space robotic p... more ERGO (European Robotic Goal-Oriented Autonomous Controller) [1] is one of the six space robotic projects in the frame of the first call of the PERASPERA SRC. ERGO is aimed to future space missions, in which space robots will require a higher level of autonomy (e.g. Exomars or Mars2020). As a framework, ERGO provides a set of components that can be reused and tailored for robots space missions (Orbital, Deep Space or Planetary Explorations) in which the on-board system has to work autonomously, performing complex operations in hazardous environments without human intervention. The concept of autonomy can be applied to a whole set of operations to be performed on-board with no human supervision, such as Martian exploration rovers, deep space probes, or inorbit assembly robots. In the last decades, the advantages of increasing the level of autonomy in spacecraft have been demonstrated in planetary rovers. At the same time, orbital space missions have already successfully applied autono...

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Injecting On-Board Autonomy in a Multi-Agent System for Space Service Providing

Lecture Notes in Computer Science, 2010

The paper describes recent work for experimenting on-board autonomy capabilities within a larger ... more The paper describes recent work for experimenting on-board autonomy capabilities within a larger multi-agent system that provides product delivery for the GMES Earth Observation System. We will show how robust state of the art technology for constraint-based scheduling and execution can be customized for endowing agents with the autonomy capability.

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Multi-step Generation of Bayesian Networks Models for Software Projects Estimations

International Journal of Computational Intelligence Systems, 2013

Software projects estimations are a crucial component of successful software development. There h... more Software projects estimations are a crucial component of successful software development. There have been many approaches that deal with this problem by using different kinds of techniques. Most of the successful techniques rely on one shot prediction of some variables, as cost, quality or risk, taking into account some metrics. However, these techniques usually are not able to deal with uncertainty on the data, the relationships among metrics or the temporal aspect of projects. During the last decade, some researchers have proposed the use of Bayesian Belief Networks (BBNs) to perform better estimations, by explicitly taking into account the previous shortcomings. But, these approaches were based on manually defining those BBNs and handling only one of the estimation variables (cost, quality or risk). In this paper, we present an approach for semi-automatically building BBNs by using machine learning techniques. We describe two algorithms to generate such BBNs. The first one generates one-shot BBNs, while the second one generates BBNs that take into account the temporal aspect of project development. We performed experiments on real data coming from two software companies, obtaining a 63% of accuracy on multiclass classification. Our main interest was to find a semantically correct model that can be trained with future projects to increase its accuracy. In this sense, we introduce a well-balanced approach to make good predictions with strong explanatory power.

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Simulating On-Board Autonomy in a Multi-Agent System with Planning and Scheduling

by Jorge Ocon and Ana Montero

... Amedeo Cesta†∗, Jorge Ocon‡, Riccardo Rasconi† and Ana Marıa Sánchez Montero‡ ... In the simp... more

ERGO: A Framework for the Development of Autonomous Robots

If citing, it is advised that you check and use the publisher's definitive version for pagination... more If citing, it is advised that you check and use the publisher's definitive version for pagination, volume/issue, and date of publication details. And where the final published version is provided on the Research Portal, if citing you are again advised to check the publisher's website for any subsequent corrections.

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Multi-Agent Frameworks for Space Applications

SpaceOps 2010 Conference, 2010

In the recent years, there has been an increasing research into and experience with autonomy and ... more In the recent years, there has been an increasing research into and experience with autonomy and automation of space missions, such as Earth observation, space station operations, planetary robotic exploration and deep space probes. Capabilities of such systems have grown radically, leading to the need of the development of autonomy for the spacecraft and ground systems. One of the possible solutions for the development of autonomous systems is the use of agent-based systems. Put at its simplest, an agent is a computer system that is capable of flexible autonomous action in dynamic, unpredictable, typically multi-agent domain, and that has autonomous characteristics, like autonomy, social ability, reactiviy and proactivity. From the software’s point of view, the design of computer programs as multi-agent systems presents a new software engineering paradigm where systems are described as individual problem-solving agents pursuing high-level goals. To support the development of multi-agent systems in other areas of application, many different multi-agent frameworks have been developed in the last decade. These multi-agent frameworks provide infrastructure functionalities allowing agents developers to concentrate on application-dependent issues. In this paper we analyze the results of the use of multiagent frameworks within the DAFA study. DAFA (Distributed Agents For Autonomy) is a study for the European Space Agency in which GMV, the University of Glasgow (UNG) and the Planning and Scheduling Team from the Institute for Cognitive Science and Technology of Italian National Research Council (ISTC-CNR) have collaborated. The project is aimed to demonstrate the advantages of using distributed agents in a space system. Its objectives can be summarized as follows: 1) demonstrate that agent technology, and in particular distributed agents, can be applied to increase mission performances, and 2) demonstrate a methodology to allow the assessment of the impact of the introduction of agents in a space system. This paper discusses the conclusions obtained as a result of this study.

Integration of domain-specific models into a MDA framework for time-critical embedded systems

2008 International Workshop on Intelligent Solutions in Embedded Systems, 2008

The model-driven architecture initiative (MDA) of the Object Management Group (OMG) proposes a de... more The model-driven architecture initiative (MDA) of the Object Management Group (OMG) proposes a development paradigm that can be used to deal with the increasing complexity of real-time embedded systems. MDA is based on developing both platform independent and specific models from which executable code can be generated in an automatic or semi-automatic way. In most cases, engineers use domain-specific models

Injecting On-Board Autonomy in a Multi-Agent System for Space Service Providing

The paper describes recent work for experimenting on-board autonomy capabilities within a larger ... more The paper describes recent work for experimenting on-board autonomy capabilities within a larger multi-agent system that provides product delivery for the GMES Earth Observation System. We will show how robust state of the art technology for constraint-based scheduling and execution can be customized for endowing agents with the autonomy capability.

Integration of domain-specific models into a MDA framework for time-critical embedded systems

The model-driven architecture initiative (MDA) of the Object Management Group (OMG) proposes a de... more The model-driven architecture initiative (MDA) of the Object Management Group (OMG) proposes a development paradigm that can be used to deal with the increasing complexity of real-time embedded systems. MDA is based on developing both platform independent and specific models from which executable code can be generated in an automatic or semi-automatic way. In most cases, engineers use domain-specific models

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