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Claraty: An architecture for reusable robotic software (2003)
| Venue: | in SPIE Aerosense Conference |
| Citations: | 48 - 12 self |
BibTeX
@INPROCEEDINGS{Nesnas03claraty:an,
author = {Issa A. D. Nesnas and Anne Wright and Max Bajracharya and Reid Simmons and Tara Estlin and Won So Kim},
title = {Claraty: An architecture for reusable robotic software},
booktitle = {in SPIE Aerosense Conference},
year = {2003}
}
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Abstract
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a framework for generic and reusable robotic components that can be adapted to a number of heterogeneous robot platforms. It also provides a hmework that will simplify the integration of new technologies and enable the comparison of various elements. CLARAty consists of two distinct layers: a FUIIC~~OM ~ Layer and a Decision Layer. The Functional Layer defines the various abstractions of the system and adapts the abstract components to real or simulated devices. It provides a-work and the algorithms for low- and mid-level autonomy. The Decision Layer provides the system’s high-level autonomy, which reasons about global resources and mission constraints. The Decision Layer accesses information from the Functional Layer at multiple levels of granularity. In this article, we will also present some of the challenges in developing interoperable software for various rover platforms. Examples will include challenges from the locomotion and manipulation domains
Keyphrases
reusable robotic software decision layer functional layer robotic autonomy fuiic om layer coupled layered architecture various abstraction mission constraint reusable robotic component global resource various rover platform new technology abstract component heterogeneous robot platform mid-level autonomy multiple level distinct layer interoperable software simulated device various element system high-level autonomy manipulation domain
