COMPLETED RESEARCH TASK

Description:
We are continuing development of CLARAty, a unified and reusable robotic autonomy architecture that provides basic functionality and simplifies the integration of new technologies for future missions. Our objectives are to: (1) mature the various packages of CLARAty, which capture domain knowledge in an integrated robotic framework, (2) provide a flexible framework for easily-integrated technologies within the RMSA program, and (3) provide a framework that will allow the comparison of competing technologies.

CLARAty is designed to have two layers of control, Functional and Decision, which interact to provide robust and flexible implementation of intelligent operation. The Functional Layer is an object-oriented software representation of the robotic system and its basic capabilities. It provides low- and mid-level autonomy capabilities for the robot.

The Decision Layer is designed to use the basis set of capabilities from the Functional Layer, for constraining and enabling solutions to problems it is given. The Decision Layer can utilize encapsulated Functional Layer capabilities with relatively high-level commands, or access lower-level functionality and combine it in ways not provided by the Functional Layer. This layer is the home for artificial intelligence software components.

Completion Date:  06/30/2006

Point of Contact:  Issa Nesnas - Jet Propulsion Laboratory

Richard Madison Michael McHenry

Mihail Pivtoraiko

Sponsored by:  Mars Technology Program

Additional Information:  http://claraty.jpl.nasa.gov/

Associated Publications:

1. C. Urmson, R. Simmons, I. Nesnas, "A Generic Framework for Robotic Navigation," Proceedings of the IEEE Aerospace Conference, Big Sky Montana, March 2003.
2. 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.
3. M.G. Bualat, C.G. Kunz , A.R. Wright, I.A. Nesnas, "Developing An Autonomy Infusion Infrastructure for Robotic Exploration," Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, Montana, March 6-14, 2004.
4. 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 2001.
5. 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, November 2001.
6. A. Diaz-Calderon, I.A. Nesnas, W.S. Kim, and H. Nayar, "Towards a Unified Representation of Mechanisms for Robotic Control Software," International Journal of Advanced Robotic Systems, Vol. 3, No. 1, pp. 61-66, 2006., .