CLARAty: Challenges and steps toward reusable robotic software

International Journal of Advanced Robotic Systems

Volumn 3, Issue 1, 2006, Pages 023-030

  Nesnas, Issa A D ^a   Simmons, Reid ^b   Gaines, Daniel ^a   Kunz, Clayton ^c   Diazcalderon, Antonio ^a   Estlin, Tara ^a   Madison, Richard ^a   Guineau, John ^a   McHenry, Michael ^a   Shu, I Hsiang ^a   Apfelbaum, David ^b  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

^c NASA AMES RESEARCH CENTER   (United States)

Author keywords

Interoperable robotic software; Object oriented robotics; Reusable robotic software; Robotic architecture; Robotic framework

Indexed keywords

ALGORITHMS; COMPUTER SOFTWARE; HARDWARE; MOTION PLANNING; NAVIGATION; REUSABILITY;

INTEROPERABLE ROBOTIC SOFTWARES; OBJECT-ORIENTED ROBOTICS; REUSABLE ROBOTIC SOFTWARES; ROBOTIC ARCHITECTURES; ROBOTIC FRAMEWORKS;

ROBOTICS;

EID: 33645560636     PISSN: 17298806     EISSN: 17298814     Source Type: Journal    
DOI: 10.5772/5766     Document Type: Review

References (25)

1. Albus, J. (1991). Outline for a Theory of Intelligence, IEEE Transactions on Systems, Man and Cybernetics, 21:3, pp. 473-509, 1991.
2. Bonasso, K.P.; et.al. (1997). Experiences with an Architecture for Intelligent, Reactive Agents, Journal of Experimental and Theoretical Artificial Intelligence, 9:2, 1997.
3. Brooks, R. (1986). A Robust Layered Control System for a Mobile Robot. IEEE Journal of Robotics and Automation, RA-2:1, 1986.
4. Coste-Maniere & E.; Simmons, R. (2000). Architecture, the Backbone of Robotic Systems. IEEE Conference on Robotics and Automation, San Francisco CA.
5. CLARAty (2005), http://claraty.jpl.nasa.gov
6. Diaz-Calderon, A.; Nesnas, I.; Kim, W.S.; & Nayar, H. (2005). Towards a Unified Representation of Mechanisms for Robotic Control Software. Int'l Journal of Advanced Robotic Systems.
7. Dvorak, D; Rasmussen, R.; Reeves, G.; & Sacks, A. (1999). Software architecture themes in JPL's Mission Data System, Proc. of the AIAA Guidance, Navigation, and Control Conference, Portland, OR.
8. FIPA (2005). Foundation for Intelligent Physical Agents, http://www.fipa.org/.
9. Gamma, E.; Helm, R.; Johnson, R.; & Vlissides, J. (1995) Design Patterns, Elements of Reusable ObjectOriented Software, Addison-Wesley Professional Computing Series.
10. Garlan, D. & Shaw, M. (1996). Software Architecture: Perspectives on an Emerging Discipline, Prentice Hall.
11. Gerkey, B.; Vaughan, B.; & Howard, A. (2003). The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems, International Conference on Advanced Robotics, pages 317-323, Portugal.
12. Goldberg, S.; Maimone, M.; & Matthies, L. (2002). Stereo Vision and Rover Navigation Software for Planetary Exploration, Proceedings of the IEEE Aerospace Conference, pp 2025-2036.
13. Huntsberger, T.; et.al. (2002). Rover Autonomy for Long Range Navigation and Science Data Acquisition on Planetary Surfaces, IEEE Conference on Robotics and Automation, Washington, DC, pp. 3161-3168
14. Jain, A.; et.al. (2004). Recent Developments in the ROAMS Planetary Rover Simulation Environment. IEEE Aerospace Conference, Montana, 2004.
15. JAUS (2005). Joint Architecture for Unmanned Systems Ref. Architecture, Ver. 3.0, http://www. jauswg.org/.
16. Kapoor, C; & Tesar, D. (1998). A Reusable Operational Software Architecture for Advanced Robotics, CSIMIFToMM Symposium on theory and Practice of Robots and Manipulators, Paris, France.
17. Mishkin, A.; Morrison, J.; Nguyen, T., Stone H.; Cooper, B.; & Wilcox, B. (1998) Experiences with Operations and Autonomy of the Mars Pathfinder Microrover, IEEE Aerospace Conference, Colorado.
18. Musliner, D.; Durfee, E. & Shin, K. (1993) IRCA: A Cooperative Intelligent Real-Time Control Architecture. IEEE Transactions on Systems, Man and Cybernetics, 23:6, 1993.
19. Nesnas, I.A., Wright, A., Bajracharya, M., Simmons, R., Estlin,_T., Kim, W.S. (2003) CLARAty: An Architecture for Reusable Robotic Software, SPIE Aerosense Conference, Florida.
20. OROCOS (2005) http://www.orocos.org/
21. Pardo-Castellote, G.; Schneider, S.; Chen, V.; and Wang, H. (1998) ControlShell: A software architecture for complex electromechanical systems, Int'l Journal of Robotics Research, 17(4).
22. Roumeliostis, S.; Johnson, A.; & Montgomery, J. (2002) Augmenting Inertial Navigation with Image-Based Motion Estimation. IEEE International Conference on Robotics and Automation, Washington D.C.
23. Simmons, R.; & Krotkov, E. (1995). Experience with Rover Navigation for Lunar-Like Terrains, Conference on Intelligent Robots and Systems.
24. Volpe, R.; Nesnas, I.A.; Estlin, T.; Mutz, D.; Petras, R.; & Das, H. (2001) The CLARAty Architecture for Robotic Autonomy. IEEE Aerospace Conference, Montana,
25. Volpe, R.; Balaram, J.; Ohm, T.; & Ivlev, R. (1997). Rocky 7: A Next Generation Mars Rover Prototype. Journal of Advanced Robotics, 11(4).