Capability Analysis Table Capability Analysis Tables are a

Capability Analysis Table • Capability Analysis Tables are a documentation and paperequivalent design tool – literally just structured spreadsheets – Guide conceptual design – Document each behavior in behavior tree – work at any level of abstraction from component to multi-agent system • Human level tool – not an automated process - pushes designer to clearly describe their desired behavior design, including assumptions and implicit requirements – Forces designer to consider consistency, behavior structure, and assumptions • Enables relatively simple checks for sequencing condition violations, exit criteria, and fault management – Forces designer to consider impact of behavior design on hardware and physical structure and vice versa • Impact of behavior design on hardware requirements and required capabilities • Impact of available hardware and existing capabilities on behavior design 1

Capability Analysis Table Information Available Internal Sample None Capability Fixed a priori information MAP Processing Beh LPOSE Cond TEMP Beh Cond Self/Env TOUCH Beh Storage Movement Data SELFPOSE Cond Internal Cond Beh External LIDAR Cond Beh Comms: Non-local sensing BEH 3 Sensors Temp < T 1 BEH 4 BEH 5 Actuators Temp >= T 2 d(LPOSE) > Thresh 2 BEH 7 BEH 6 BEH 4 Comms: Mission / Task / Goals OBJECTPOSE Cond Beh Sub-Task Notes Cond Beh BEH 1 Gen Poses BEH 1 Ongoing BEH 2 provides a comms relay service – BEH 2 sensor data from other sources is moved elsewhere Ongoing BEH 3 logs internal sensor data Ongoing BEH 4 monitors internal temperature. At low temperatures, it controls the heater Ongoing BEH 5 changes the sensor settings based on estimated position in a map Ongoing BEH 4 monitors internal temperature. At BEH 4 high temperatures, It reorients relative to the sun BEH 2 Static H/W Hardware Control Mechanisms Beh Processing Status/Output LPOSE SELFPOSE Cond External Sensors Subsumes BEH 4 BEH 6 BEH 1 requires LIDAR data and an operator instruction to generate the robot’s position on the map (SELFPOSE) and the relative pose of the nearest object (LPOSE) BEH 6 generates motion if the distance from the current distance to an object is less than a threshold Ongoing; BEH 7 is a random walk , always active but Subsumed by BEH 7 subsumed by other behaviors BEH 4 and BEH 6 2

Capability Table • Used during design process, before implementation, as part of requirements generation process – Can also be created after implementation as descriptive documentation and post-design verification support tool • Does not prescribe approach to autonomy design – Supports analysis at every level of abstraction – Supports analysis of multi-vehicle behavior design, single vehicle behavior design, component behavior design • Can be used with or without a priori hardware selection – With: • Ensures design feasible within context of selected platform – Without: • Defines requirements imposed on platform selection process 3