1. Verifying AI Plan Models Even the best laid plans need to be verified Margaret Smith – PI Gordon Cucullu Gerard Holzmann Benjamin Smith Prepared for the 2004 Software Assurance Symposium (SAS) DS1 MSL

2. Problem How do you know that an Artificial Intelligence (AI) Onboard Planner will produce only good plans when it is flown? goals state variables resources activities AI Planner Input model Plans Once the planner selects a plan, with a simple check we can show that the plan is consistent with the input model provided to the planner. But there is currently no method to check that the input model will allow only good plans.

3. Problem, 2 How are AI models tested currently? 1.Construct the model from Science or other requirements. 2.Inspect the model for correctness against requirements. 3.Input the model to the AI planner and ask for a specified number of plans. 4.Manually inspect plans to identify bad plans Adjust constraints and other model elements to exclude bad plans. bad plan(s) all good plans(s) End testing try again

4. Approach Test plan models exhaustively to determine whether an input model allows bad plans. Construct the model from Science or other requirements. Inspect the model for correctness against requirements. Formulate ‘good plan’ properties Express model in Promela and exhaustively check using Spin. Adjust constraints and other model elements to exclude bad plans. bad plan (error trace) no errors End testing try again

5. Benefits Retire an important class of risks inherent to all missions using AI Planners. –by replacing a sampling test method with an exhaustive test method Enable autonomous systems that are needed by NASA projects to meet budget and science return requirements.

6. Relevance to NASA High mission operations costs are pushing NASA funded missions toward more autonomous planning capabilities. Communication delays for Deep Space missions are a poor match with traditional commanded spacecraft. Methods for testing must keep pace with the highly complex, autonomous systems we are developing.

7. Accomplishments Work on this project began in January, 2004. Team members (Affiliation: JPL): Margaret Smith (PI) – model checking, property specification Gordon Cucullu – model checking, spacecraft domain expert Gerard Holzmann – author of the Spin model checker, model checking expert Ben Smith – member of the JPL AI community, AI expert

8. Accomplishments, 2 Scoped the problem: worked with the JPL AI community to identify an important class of risks associated with AI planners. –The risk identified is that AI input models, which are built by hand, may permit a AI planner to select a bad plan. Using ‘toy’ problems, demonstrated that the Spin model checker can find bad plans allowed by the input model. –The input model is expressed in Promela, the language of the Spin model checker. –A good plan is expressed formally as a property –Spin finds an exception to the good plan (i.e. a bad plan) and reports it as an error.

9. Accomplishments, 3 Using a real example, the now cancelled DS4/ST4 Champollion mission, demonstrated that Spin can find bad plans on real AI input models. –The model, when expressed in Promela, is tractable (can be exhaustively checked within memory constraints of a desktop PC with 2 GB of memory in a few minutes). We analyzed the bad plan produced by Spin, and fixed the AI input model, by adding a missing constraint. An exhaustive recheck with Spin showed that the fixed model can only produce good plans.

10. Next Steps Test additional properties of the DS4/ST4 input model. Repeat the process on other AI models we have acquired to see if we get similar positive results. Repeat the process recently launched or soon to be launched missions: –Earth Orbiter 1 –3 Corner Sat