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 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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