CLARAty: an architecture for reusable robotic software

Issa A. Nesnas; Anne Wright; Max Bajracharya; Reid Simmons; Tara Estlin; Won Soo Kim

doi:10.1117/12.497223

30 September 2003 CLARAty: an architecture for reusable robotic software

Issa A. Nesnas, Anne Wright, Max Bajracharya, Reid Simmons, Tara Estlin, Won Soo Kim

Proceedings Volume 5083, Unmanned Ground Vehicle Technology V; (2003) https://doi.org/10.1117/12.497223
Event: AeroSense 2003, 2003, Orlando, Florida, United States

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 framework that will simplify the integration of new technologies and enable the comparison of various elements. CLARAty consists of two distinct layers: a Functional 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 framework 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

Citation Download Citation

Issa A. Nesnas, Anne Wright, Max Bajracharya, Reid Simmons, Tara Estlin, and Won Soo Kim "CLARAty: an architecture for reusable robotic software", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.497223

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available