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More About Reconfigurable Exploratory Robotic Vehicles

Information on the Axeln software has become available since the prior article was published. To enable self-diagnosis and automatic reconfiguration of modular hardware, the architecture of the Axeln software provides for autonomous adaptation of the software to the hardware reconfiguration. More specifically, an Axeln uses software that can determine when physical reconfiguration is necessary (e.g., in response to task requirements or hardware failures), controls the hardware reconfiguration, and reconfigures itself to conform to the changed hardware configuration.

The capability for autonomous reconfiguration of the hardware depends heavily on the supporting software. One of the goals of the development of the Axeln system is to simplify and generalize through modularity. The reconfigurable software architecture mirrors the modularity of the hardware by providing that, as hardware modules are connected or disconnected, associated software modules are also put into or taken out of operation.

This work was done by Ayanna Howard, Issa Nesnas, Barry Werger, Daniel Helmick of Caltech; Murray Clark and Raymond Christian of Arkansas Tech; and Raymond Cipra of Purdue University for NASA’s Jet Propulsion Laboratory. For more information, contact This email address is being protected from spambots. You need JavaScript enabled to view it..
NPO-30890

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