1. CLARAty: Coupled Layer Architecture for Robotic Autonomy Issa A.D. Nesnas Jet Propulsion Laboratory October 16, 2001 Mars Technology Program Year-End Review FY01

2. October 16, 2001 CLARAty FY01 Review- I.A.N. 2 Presentation Overview Quad Chart Background and Overview Relevance to the missions CLARAty Team and Collaborators Level I & II Milestones Accomplishments –Functional Layer Accomplishments - Examples on code reusability –Decision Layer Accomplishments – Multi-target planning scenario Video Demonstration of the milestones Future Plans Publications and website

3. Objective Develop and implement a comprehensive control architecture for autonomous mobile robots and capture the state of the art of robotics and autonomy software in this framework. Milestones – FY01 through FY03 Prototype end-to-end, limited scenario, single-rover autonomous control under the new architecture. Add infrastructure to Rocky 8 to support autonomous operations. Develop the full capabilities of a single-rover autonomous control under new architecture. Demonstrate the 2007 Mission Scenario using this software. Task Manager Issa A.D. Nesnas, JPL nesnas@ jpl.nasa.gov, 818-354-9709 Participants JPL Autonomy and Control Section JPL Artificial Intelligence Section JPL Mechanical Systems Science & Tech. Dev. Section JPL Mission Data System NASA Ames Research Center Carnegie Mellon University Facilities JPL Long-Range Science Rovers, Rocky 7 & 8 ARC K9 rover JPL Mars Yard http://claraty.jpl.nasa.gov/ CLARAty: Coupled Layer Architecture for Robotic Autonomy Schedule and Funding 427 3.0 Funding ($K) Non-civil servants Sophistcated mission-like scenarios on all rover prototypes Sophisticated rover functionality with enhanced decision capability Basic rover functionality integ- rated with decision capabilities Design CLARAty and implement path planning in it. FY 00Activity DECISION LAYER FUNCTIONAL LAYER DYNAMIC REPLANNING FY 01FY 02FY 03 1350 6.0 2000 8.0? 2000 8.0?

4. October 16, 2001 CLARAty FY01 Review- I.A.N. 4 Background Different implementations of basic robotic and rover functionality exist across projects Technology implementations are not readily portable across robotic systems (very costly to do) Specialized robot infrastructure software tend to be single- point solutions that are not reusable across projects Absence of basic robotic infrastructure for new projects with limited funding Lack of a generic framework for implementing novel generic algorithms - technology implementations often not preserved

5. October 16, 2001 CLARAty FY01 Review- I.A.N. 5 What is CLARAty? CLARAty is a unified and reusable framework that provides base functionality and aims at facilitating the integration of new technologies on various rovers and robotic platforms

6. October 16, 2001 CLARAty FY01 Review- I.A.N. 6 High-level Requirements Capture robot-specific domain knowledge within the framework Provide Robotic Components that are: –Reusable, easily reconfigurable, modular, extendible, mature, easy to use by non-experts, platform independent, testable, scalable, maintainable, efficient, easily integrated, well- defined, and well-documented

7. October 16, 2001 CLARAty FY01 Review- I.A.N. 7 Approach Two-layer design: Functional Layer and Decision Layer Functional Layer provides basic functionality for a robotic system Decision Layer provides decision making capabilities such as planning and execution. Decision Layer sends commands to Functional Layer and receives periodic state and resource updates. Functional Layer uses an object-oriented component-based design Decision Layer uses declarative model-based design Both are implemented using C++ Components are validated in simulation and on real robotic platforms

8. THE DECISION LAYER: Reliance on disparate efforts to provide planning, scheduling, and execution – including CASPER, CLEaR, TDL, MDS GEL, CRL. THE FUNCTIONAL LAYER: Generalized and reusable software for multiple, differing, rover platforms. This includes packages for: I/O, Motion Control, Manipulation, Mobility, Navigation, Perception, Resource Management, and System Control. VARIABLE GRANULARITY INTERFACE: Interface between high- or low-level goals and system objects. Definitions for command/control, status, and resource predictions. Tight coupling through direct object access, including state. CLARAty = Coupled Layer Architecture for Robotic Autonomy A Two-Layered Architecture

9. October 16, 2001 CLARAty FY01 Review- I.A.N. 9 Relevance to the Missions CLARAty is a technology infusion task Provides generic robotic infrastructure that can be adapted to various research and flight rovers in relatively short period of time Provides well-tested software that has been used by several researchers in the robotics community Makes rover research prototypes a viable platform for testing certain flight software (e.g. navigation) Provides a robust multi-platform infra-structure for testing autonomy software (e.g. ASPEN/CASPER) Provides a software infra-structure that is robust to changes in rover hardware designs

10. October 16, 2001 CLARAty FY01 Review- I.A.N. 10 CLARAty Members & Collaborators Jet Propulsion Laboratory (CLARAty/Rocky8 Team) –Edward Barlow (34) –Caroline Chouinard (36) –Hari Das (34) –Tara Estlin (36) –Dan Helmick (34) –Stanley Lippman (Consultant) –Darren Mutz (36) –Issa A.D. Nesnas (34) –Ashitey Trebi-Ollennu (35) –Richard Petras (34) –Paolo Pirjanian (35) –Kevin Watson (34) Ames Research Center –Anne Wright –Mike Fair –Clay Kunz –Richard Washington Carnegie Mellon University –Reid Simmons –Chris Urmson CLEaR Team –Forest Fisher –Dan Gaines –Steve Schaffer MER Team –Mark Maimone ROAMS Team –Abhi Jain –Garett Sohl RE&E Team ( Larry Matthies) –Dan Katz –Rober Tidsdale –Won Soo Kim –Paul Springer

11. October 16, 2001 CLARAty FY01 Review- I.A.N. 11 Teaming and Collaborations JPL CLARAty/Rocky 8 Team: –Developed basic infra-structure for Functional Layer Motion Control, Mobility and Locomotion, Position Estimation, Navigation, Rover Control, Behavior Control, Math and Transformations, Communications, Connectors, Vision, Manipulation, and Hardware Drivers –Completed the Rocky 8 research rover for testing CLARAty software CLEaR & CLARAty Decision Layer Team: –Provided an instantiation of the CLARAty Decision Layer, integrated, tested and debugged Level I milestone. MER Team –Provided GESTALT navigation software Ames Research Center: –Pro-active role in the design, test, and usage of the Functional Layer components. –Close collaborations on the development and build infra-structure –Provided adaptations of Functional Layer to K9 rover and K9 arm.

12. October 16, 2001 CLARAty FY01 Review- I.A.N. 12 Teaming and Collaborations (2) Carnegie Mellon University: –Exchanged design concepts for navigation package (contract was placed late in the fiscal year) ROAMS Team –Close collaborations for the integration of the Functional and Decision Layers to the ROAM rover simulation –Provided YaM development infra-structure for CLARAty REE Team –Provided CLARAty communication and image transfer software infra- structure to REE to help future collaborations on an REE/Rocky 8 navigation demonstration MDS Team –Participated in weekly meetings (total 3 months) with MDS team for technical information exchange. Others –Continuous interactions with individuals interested in learning more about CLARAty and how to integrate their technologies onto a JPL/Ames rover prototypes

13. October 16, 2001 CLARAty FY01 Review- I.A.N. 13 Level 1: Prototype Functional and Decision Layers interacting with a real rover. Level 2: Prototype Functional Layer running on Rocky 8 and K9. Use of Functional Layer on Rocky 7 for IS program CLEaR demo. Integration of CMU/MER navigation software. Prototype of Resource Query infrastructure in cooperation with ARC. Decision Layer interaction with ROAMS through simplified Functional Layer. Milestones for FY01

14. Accomplishments

15. October 16, 2001 CLARAty FY01 Review- I.A.N. 15 Simulation Hardware Drivers Adapting to a Rover Generic Functional Layer Rocky 8 Specialized Classes & Objects Connector Decision Layer (e.g. CASPER/TDL) Multi-level access Connector Rocky 8 Models/ Heuristics

16. October 16, 2001 CLARAty FY01 Review- I.A.N. 16 Currently Supported Platforms Rocky 8 K9 Rover Rocky 7 SparcSol VxWorks Linux GNU C++ SparcWorks CC Visual C++ Motorola 68K Intel x86 Rad 6000 ARCJPL RoboticsJPL AICMU Rocky 8 K9 Rocky 7 ADL/PPC

17. October 16, 2001 CLARAty FY01 Review- I.A.N. 17 The Functional Layer Transforms Motion Control Vision Estimation Input/Output ManipulationNavigation Communication Math Hardware Drivers LocomotionRover Behaviors Path Planning Rocky 8 Rocky 7 K9 FIDO

18. October 16, 2001 CLARAty FY01 Review- I.A.N. 18 Component Analysis State Objects Members Generic Physical Comp Estimator State Machines Object Services Creates Private Public Links to State Handler Sub-object Internal Implementation Local Estimation State 1 Queries HW Object - optional link

19. Adaptation Examples for Rocky 8 and Rocky 7

20. October 16, 2001 CLARAty FY01 Review- I.A.N. 20 Controlled Motor Adaptations Controlled_Motor_Impl ControlledMotor Linear_Axis Joint Non-Resuable Layer R8_MotorR7_MotorFido_MotorSim_Motor Trajectory Trajectory_Generator Mz HCTL_Chip LM629_Chip Widget_Board R7_MC_Board Widget_Motor PID_Servo

21. October 16, 2001 CLARAty FY01 Review- I.A.N. 21 R8 Specific Rover Implementation Mast LeggedLoc Wheeled Locomotor Locomotor CoordMotionSystem Motor BBMotor ControlledMotor Analog_IO Digital_IO IO Manipulator Arm R8_ArmR8_Mast Implements general fwd & inv. kinematics & joint ctrl Specialized inv. Kinematics (overrides default) Attaches proper motors Attaches proper cameras for mast Adds filter wheel R8_Locomotor Attaches proper motors Restricts Steering to 2 wheels R8_Motor R8_Rover R8_Arm R8_MastR8_Locomotor R8 Widget Board Widget AIOWidget DIO Widget Motor HCTL 1100 Chip Non reusable Code Reusable Code Trajectory Trajectory_Generator Timers

22. October 16, 2001 CLARAty FY01 Review- I.A.N. 22 R7 Specific Rover Implementation Mast WheeledLocLeggedLoc RBLoc Locomotor CoordMotionSystem Motor BBMotor ControlledMotor Analog_IO Digital_IO IO Manipulator Arm R7_ArmR7_Mast Implements general fwd & inv. kinematics & joint ctrl Specialized inv. Kinematics (overrides default) Attaches proper motors Attaches proper cameras for mast Adds filter wheel R7_Locomotor Attaches proper motors Restricts Steering to 2 wheels LM629Chip LM629Motor R7_Rover R7_Arm R7_MastR7_Locomotor R7 Device Drivers VPAR10Board Non reusable Code Reusable Code

23. October 16, 2001 CLARAty FY01 Review- I.A.N. 23 Actual Examples of Code Reusability for Hardware modules: –Controlled Motor Hierarchies for Rocky 8 and Rocky7 ~95%Total Reusable 334 (non- reusable) 6380Total ~52%Total Reusable – Strict Reusable – widget 383Widget Motor Reusable – I2C1446I2C Master Reusable – HCTL 900Motor Controller HCTL Non-reusable334Rocky 8 Motor Reusable756Bits Reusable143Resources (Timers, etc) Reusable338Trajectory Generator Reusable2080Controlled Motor StatusLines of Code Module Reusable – VPAR10 534VPAR10 Parallel I/O 546 (non-reusable)5636Total ~90%Total Reusable Non-reusable131Rocky 7 I/O Maps Non-reusable415Rocky 7 Motor ~63%Total Reusable – Strict Reusable – LM6291014 Motor Controller LM629 Reusable706Input Output Reusable756Bits Reusable2080Controlled Motor Status Lines of Code Module Code Reusability Rocky 8 Rocky 7

24. October 16, 2001 CLARAty FY01 Review- I.A.N. 24 Generic Technologies & Algorithms Technologies that are generic by design should not be constrained by the software architecture & implementation Non-generic technologies should be accommodated on the appropriate platforms –Example (Generic): if you are working in navigation, you would not care about H/W architecture difference among different rovers –Example (Specific): if you are doing wheel/terrain interaction research, you might require specific hardware which one of the vehicles would support Assumptions are made explicit

25. October 16, 2001 CLARAty FY01 Review- I.A.N. 25 Actual Example of Code Reusability for software modules: –Wheeled Locomotor Hierarchy – works for Rocky 8, Rocky 7, Fido, K9, and much more Front x y z C (a) Skid Steering (no steering wheels) x y z C (b) Tricycle (one steering wheel) Front x y z C (d) Partially Steerable (e.g. Rocky 7) Front x y z C (e) All wheel steering (e.g. Rocky8, Fido, K9) Front x y z C (c) Two –wheel steering Generic Algorithms

26. October 16, 2001 CLARAty FY01 Review- I.A.N. 26 Capabilities of Wheel Locomotor Wheel_Locomotor Example –Type of maneuvers: Straight line motion in both forward and backward directions Crab maneuvers – i.e. straight line motions in any angular direction Arc maneuvers about any point in the plane (includes both forward/backwards arcs as well as crab arcs) Rotate-in-place maneuvers which are a subset of the Arc maneuvers with zero arclengths –Driving Operation Non-blocking drive commands Multi-threaded access to the Wheel_Locomotor class – e.g. one task can use Wheel_Locomotor for driving while the other for position queries Querying capabilities during all modes of operation. Examples include position updates and state queries Built-in rudimentary pose estimation that assumes vehicle follows commanded motion

27. October 16, 2001 CLARAty FY01 Review- I.A.N. 27 Actual Example of Code Reusability for software modules: –Wheeled Locomotor Hierarchy – worked for Rocky 8, Rocky 7, Fido, K9, and much more -Reusable131Point 2D Reusable2080Controlled Motor -Reusable1083Matrix, Vector, Array Rotation Matrix, Point 2DReusable341Location, Homogeneous Transforms -Reusable435Rotation Matrices 584 (non-reusable) Non-reusable Reusable Status Widget Motor, etc... Rocky 8 Motor - Vector Motion Sequence, 1D Solver, Homogeneous Transforms Depends On ~92%Total Reusable 6995Total 334Rocky 8 Motor 250Rocky 8 Locomotor 3561D Solver 540Motion Sequence 1445Wheel Locomotor Lines of CodeModule Code Resuability 2

28. Level I Scenario - Integration of Decision Layer & Functional Layer

29. October 16, 2001 CLARAty FY01 Review- I.A.N. 29 Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment Courtesy of Fisher, Estlin et al. Unknown obstacle causes navigation s/w to take rover off course Goal discarded due to memory resource conflict Unknown obstacles causes obstructed path. Science targets are re-sequenced Goal discarded due to energy resource conflict Decision Layer - Full Navigation Scenario

30. October 16, 2001 CLARAty FY01 Review- I.A.N. 30 Start (0, 0) image 4 (-1.8, -2.2) spectrometer 1 (2.0, -2.5) image 2 (5.0, 1.5) image 1 (6.0, -2.2) dig 1 (10.5, -3.0) spectrometer 2 (14.3, -1.8) image 3 (12.5, 1.0) dig 2 (9.8, 3.0) Initial Science Targets Courtesy of Fisher, Estlin et al. Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

31. October 16, 2001 CLARAty FY01 Review- I.A.N. 31 Start (0, 0) image 4 (-1.8, -2.2) spectrometer 1 (2.0, -2.5) image 2 (5.0, 1.5) image 1 (6.0, -2.2) dig 1 (10.5, -3.0) spectrometer 2 (14.3, -1.8) image 3 (12.5, 1.0) dig 2 (9.8, 3.0) Goal discarded due to projected memory & energy resource conflict Initial Plan Generation Courtesy of Fisher, Estlin et al. Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment Initial plan generation balanced against resource constraints and hard time constraints

32. October 16, 2001 CLARAty FY01 Review- I.A.N. 32 Start image 4 image 2 image 1 dig 1 spectrometer 2 image 3 dig 2 Spectrometer Read (1st Target) Courtesy of Fisher, Estlin et al. Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

33. October 16, 2001 CLARAty FY01 Review- I.A.N. 33 Start image 4 spectrometer 1 image 2 image 1 dig 1 spectrometer 2 image 3 dig 2 Unknown obstacles causes obstructed path Courtesy of Fisher, Estlin et al. Obstructed Path Detected Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment Requires decision making within context of global plan

34. October 16, 2001 CLARAty FY01 Review- I.A.N. 34 Start image 4 spectrometer 1 image 2 image 1 dig 1 spectrometer 2 image 3 dig 2 Unknown obstacles causes obstructed path Science target are re-sequenced to maximize science return Courtesy of Fisher, Estlin et al. Science Targets Re-Sequenced Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

35. October 16, 2001 CLARAty FY01 Review- I.A.N. 35 Start image 4 spectrometer 1 image 2 dig 1 spectrometer 2 image 3 dig 2 Courtesy of Fisher, Estlin et al. Imaging Activity (2 nd Target) Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

36. October 16, 2001 CLARAty FY01 Review- I.A.N. 36 Start image 4 spectrometer 1 image 2 dig 1 spectrometer 2 image 3 dig 2 Image activity takes more memory than anticipated Science target eliminated to maximize science return Goal discarded due to memory resource conflict Replanning due to Projected Memory Resource Violation Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment Replanning occurs to maximize science return (Optimize Plan Based on Science Target Prioritization)

37. October 16, 2001 CLARAty FY01 Review- I.A.N. 37 Start image 4 spectrometer 1 image 2 dig 1 spectrometer 2 image 3 dig 2 Obstructed path detected Courtesy of Fisher, Estlin et al. Obstructed Path Detected Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

38. October 16, 2001 CLARAty FY01 Review- I.A.N. 38 Start image 4 spectrometer 1 image 2 dig 1 spectrometer 2 image 3 dig 2 Reactive reasoning component finds new path to goal Courtesy of Fisher, Estlin et al. Reactive Reasoning Resolves Problem Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment No Negative Impact to Overall Schedule

39. October 16, 2001 CLARAty FY01 Review- I.A.N. 39 Start image 4 spectrometer 1 image 2 image 1 spectrometer 2 image 3 dig 2 Courtesy of Fisher, Estlin et al. Dig Activity (3 rd Target) Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

40. October 16, 2001 CLARAty FY01 Review- I.A.N. 40 Start image 4 spectrometer 1 image 2 image 1 spectrometer 2 image 3 dig 2 Dig activity takes more energy than anticipated Remaining dig activity removed from schedule to free up needed energy for future Communications Activity Goal discarded due to energy resource conflict Courtesy of Fisher, Estlin et al. Replanning due to Projected Energy Resource Violation Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment Replanning Occurs to Ensure Enough Energy for Comm. Activity (Increased Mission Reliability)

41. October 16, 2001 CLARAty FY01 Review- I.A.N. 41 Start image 4 spectrometer 1 image 2 image 1 dig 1 spectrometer 2 dig 2 Courtesy of Fisher, Estlin et al. Imaging Activity (4 th Target) Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

42. October 16, 2001 CLARAty FY01 Review- I.A.N. 42 Start image 4 spectrometer 1 image 1 dig 1 spectrometer 2 image 3 dig 2 Courtesy of Fisher, Estlin et al. Previously Skipped Imaging Activity (5 th Target) Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

43. October 16, 2001 CLARAty FY01 Review- I.A.N. 43 Start image 4 spectrometer 1 image 1 dig 1 spectrometer 2 image 3 dig 2 Resource profiles are preserved throughout the scenario to ensure adequate power for communication and overnight rover health Courtesy of Fisher, Estlin et al. End of Day Communication Global map knowledge (Orbit or decent imagery) Local map knowledge Original path New / Actual path Science goal target Deleted Science Target Deleted path segment

44. October 16, 2001 CLARAty FY01 Review- I.A.N. 44 Integration with Simulation (ROAMS) Goal –Provide simulation components at all levels –Easily attach to a simulator (e.g. ROAMS) Status –Integrated framework with ROAMS rover simulation –Decision layer provides initial plan –Goals sent to the Functional Layer –Functional Layer interacts with ROAMS simulation –Synchronous and asynchronous updates from ROAMS to Functional Layer and Decision Layer –ROAMS has implemented obstacle avoidance

45. October 16, 2001 CLARAty FY01 Review- I.A.N. 45 CLARAty Decision Layer CASPER/TDL ROAMS Rover Simulation CLARAty Functional Layer Integration with ROAMS

46. Presentation of CLARAty Video

47. October 16, 2001 CLARAty FY01 Review- I.A.N. 47 Status Basic and robot specialized data structure available Several generic physical components used Integrated with ROAMS simulation Running various releases of the packages on Rocky 8, K9, and Rocky 7 rovers –MER navigator integrated on Rocky 8 in 3 weeks –DL (CASPER/TDL) running on R7 and R8 & ROAMS Detailed status cannot be covered in one slide Continuous detailed status of development available on the CLARAty website

48. October 16, 2001 CLARAty FY01 Review- I.A.N. 48 Future Plans Improve current software infra-structure Complete development of several packages Fully document all packages and technologies Provide navigation infra-structure to support and compare different navigation technologies Extend packages to fully support Rocky 8, K9, Fido and Rocky 7 rovers Enhance Manipulation package and adapt to Rocky 8 & Rocky 7 Provide Basic Vision and Stereo Vision Packages using JPL and Ames Stereo Technology Provide simulation components at various levels of granularity Provide automated means for accessing Functional Layer from Decision Layer. Provide richer functionality to the Decision Layer Provide resource queries at various levels

49. October 16, 2001 CLARAty FY01 Review- I.A.N. 49 Publications & Website http://claraty.jpl.nasa.gov I.A.D. Nesnas, R. Volpe, T. Estlin, H. Das, R. Petras D. Mutz, "Toward Developing Reusable Software Components for Robotic Applications" Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Maui Hawaii, Oct. 29 - Nov. 3 2001. pdf (8 pages, 2MB) T. Estlin, R. Volpe, I.A.D. Nesnas, D. Mutz, F. Fisher, B. Engelhardt, S. Chien, "Decision- Making in a Robotic Architecture for Autonomy." Proceedings of 6 th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), Montreal Canada, June 18-21 2001. pdf (8 pages, 72KB) R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "The CLARAty Architecture for Robotic Autonomy." Proceedings of the 2001 IEEE Aerospace Conference, Big Sky Montana, March 10-17 2001. pdf (12 pages, 470 KB) R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "CLARAty: Coupled Layer Architecture for Robotic Autonomy." JPL Technical Report D-19975, Dec 2000. pdf (116 pages, 904 KB)

50. October 16, 2001 CLARAty FY01 Review- I.A.N. 50 Bottom Line If we provide a service that is enabling for technologists If we significantly reduce integration time of software onto real robotic systems If we can easily test autonomy software on rovers If we simplify the development/integrate/debug/test cycle for current and next generation NASA rovers If people other than the developing team are using and “like” the system If we can support multiple platforms with different hardware architectures

51. October 16, 2001 CLARAty FY01 Review- I.A.N. 51 Acknowledgements CLARAty Team, Ames K9 Team, CLEaR Team, ROAMS/Darts Team

52. Thank you for your Attention

53. October 16, 2001 CLARAty FY01 Review- I.A.N. 53 Summary CLARAty provides a repository of reusable software components It attempts at capturing well-known robot technologies in a basic framework for researchers It publishes the behavior and interfaces of its components It allows researchers to integrate novel technologies at different levels of the architecture It will result from collaborative efforts of the robotics community It will run on multiple heterogeneous robots

54. October 16, 2001 CLARAty FY01 Review- I.A.N. 54 Example: Generic Controlled Motor Define generic component capabilities independent of hardware Provide implementation for generic interfaces to the best capabilities of hardware Provide software simulation where hardware support is lacking Adapt functionality and interface to particular hardware by specialization inheritance Motor Example: public interface command groups: –Initialization and Setup –Motion and Trajectory –Queries –Monitors & Diagnostics Time Velocity S- Profile Instantaneous Profile Change

55. October 16, 2001 CLARAty FY01 Review- I.A.N. 55 Motor Run-time Operation Multiple threads can use a single system object Implementation must be re-entrant and multi-thread safe Single-thread Operation Multi-thread Operation motor.change_position(2PI) motor.wait_until_done(45%) motor.get_current_position() motor.change_position(2PI) do other things Thread Execution Blocks Thread 1 (controls)Thread 2 (monitors) based on watchdog position = motor.get_position() if (position > x) motor.stop() aControlledMotor

56. October 16, 2001 CLARAty FY01 Review- I.A.N. 56 Functional Layer Components Pixel MastWheeledLocLeggedLocRBLoc Locomotor CoordMotionSys Socket Motor Camera Instrument BBMotorControlledMotor Analog_IODigital_IO IO VisualNavigatorVisualTracker Array_2D Vector LocationPoint Matrix ImageColorImageHTrans FeatureDetectorCorrelator Behavior State Database Bit Resource Rover SocketMsg Manipulator Arm StereoGen Specialized Data Structures General Purpose Data Structures Standard Template Library String LinkedList Container

57. October 16, 2001 CLARAty FY01 Review- I.A.N. 57 Adaptations Robotics Branch Mobility & Navigation Motion Control Vision & Perception Manipulation System Control Input/Output Sensor & Instrument Processing Communication Resource Management Fuzzy LogicNeural Nets Behavior Ctrl … Hardware Branch ISA PCI Motion Control Chips Application Branch HCTL_Chip LM629_Chip Parallel I/O Analog I/O Framegrabbers Converters VME Parallel I/O Analog I/O Framegrabbers Converters I2C Rocky 7 Rocky 8 Nanorover Wheeled Locomotion Manipulation Resource Management … …