Functional-layer software for the Coupled Layer Architecture for Robotics Autonomy (CLARAty) is being developed. [CLARAty was described in "Coupled-Layer Architecture for Advanced Software for Robots" (NPO-21218), NASA Tech Briefs, Vol. 26, No. 12 (December 2002), page 48. To recapitulate: CLARAty was proposed to improve the modularity of robotic software while tightening the coupling between planning/execution and control subsystems. Whereas prior robotic software architectures have typically contained three levels, the CLARAty architecture contains two layers: a decision layer and a functional layer.] Just as an operating system provides abstraction from computational hardware, the CLARAty functional-layer software provides for abstraction for the different robotic systems. The functional-layer software establishes interrelated, object-oriented hierarchies that contain active and passive objects that represent the different levels of system abstractions and components. The functional-layer software is decomposed into a set of reusable core components and a set of extended components that adapt the reusable set to specific hardware implementations. The reusable components (a) provide behavior and interface definitions and implementations of basic functionality, (b) provide local executive capabilities, (c) manage local resources, and (d) support state and resource queries by the decision layer. Software for robotic systems can be built by use of these components.
This software was architected and written by Issa Nesnas, Richard Volpe, Hari Das, Darren Mutz, Richard Petras, and Tara Estlin of Caltech for NASA's Jet Propulsion Laboratory. For further information, access the Technical Support Package (TSP) free on-line at www.techbriefs.com under the Software category.
This software is available for commercial licensing. Please contact Don Hart of the California Institute of Technology at (818) 393-3425. Refer to NPO-30132.
This Brief includes a Technical Support Package (TSP).
CLARAty Functional-Layer Software
(reference NPO-30132) is currently available for download from the TSP library.
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Overview
The document presents a technical support package from NASA, focusing on the CLARAty (Coupled Layer Architecture for Robotic Autonomy) Functional Layer software, developed at the Jet Propulsion Laboratory (JPL). This software aims to create a reusable and modular framework for robotic applications, allowing non-experts to integrate various components into their systems effectively. The primary goal is to establish a common platform for robotic research and operations, facilitating the development of generic software components that encapsulate well-known robotics functionalities.
The CLARAty architecture is designed to provide a level of abstraction for robotic systems, similar to how an operating system abstracts computational hardware. It consists of interrelated object-oriented hierarchies that represent different levels of system abstractions, including both active and passive objects. The architecture is decomposed into reusable core components and extended components that adapt to different hardware implementations. These components offer interface definitions, local executive capabilities, resource management, and support for state and resource queries.
The document outlines the motivation behind the development of this software, which addresses the challenges faced in integrating diverse robotic systems. Due to variations in mechanical and electrical designs, transferring capabilities between different robots has been complex and costly. The CLARAty framework aims to provide a homogeneous software infrastructure that can control heterogeneous robotic systems, thereby simplifying the integration of new technologies developed in various research domains.
Additionally, the document references several publications related to the CLARAty architecture, highlighting its significance in advancing robotic autonomy. Notable publications include conference proceedings and technical reports that detail the architecture's development and its applications in robotic systems.
The document also includes a disclaimer regarding the endorsement of specific commercial products and emphasizes that the work was conducted under NASA's sponsorship. Overall, the CLARAty Functional Layer software represents a significant step toward creating a versatile and efficient software ecosystem for robotic applications, ultimately enhancing the capabilities and interoperability of robotic systems in various domains.
