Paper Info
Title
Claraty And Challenges Of Developing Interoperable Robotic Software
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.
Year
DOI
Venue
2003
10.1109/IROS.2003.1249234
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4
Keywords
Field
DocType
autonomy,open systems,robotics,layered architecture
Computer science,Interoperability,Control engineering,Software,Artificial intelligence,Robotic paradigms,Granularity,Open system (systems theory),Robotics,Multitier architecture,Distributed computing,Robot,Embedded system
Conference
Citations 
PageRank 
References 
29
1.91
9
Authors
5
Name
Order
Citations
PageRank
Issa A. D. Nesnas18310.84
Anne Wright2291.91
Max Bajracharya322418.15
Reid G. Simmons44114562.20
Tara A. Estlin514615.11