CIM Reading group for Robot Software Architectures

Topics/Architectures/Papers to be discussed:

• Player/Stage:

  The papers:
  
  • "Most Valuable Player: A Robot Device Server for Distributed Control". Brian P. Gerkey, Richard T. Vaughan, Kasper Støy, Andrew Howard, Gaurav S Sukhatme, and Maja J Mataric´. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), pages 1226-1231, Wailea, Hawaii, October 29 - November 3, 2001.
    
  • "On Device Abstractions For Portable, Resuable Robot Code". Richard T. Vaughan, Brian P. Gerkey, and Andrew Howard. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pages 2121-2427, Las Vegas, Nevada, October 27 - 31, 2003.
  • "The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems". Brian P. Gerkey, Richard T. Vaughan, and Andrew Howard. In Proceedings of the International Conference on Advanced Robotics (ICAR 2003), pages 317-323, Coimbra, Portugal, June 30 - July 3, 2003.
  Meeting 12:00 Wed. 12 May 2004.

• SAPHIRA architecture

  The paper:
  Konolige, K. and K. Myers. "The Saphira Architecture for Autonomous Mobile Robots".
  Meeting 12:00 Wed. 19 May 2004.

• Subsumption

  The paper:
  Brooks, R. A. "A Robust Layered Control System for a Mobile Robot", IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14-23; also MIT AI Memo 864, September 1985.
  Meeting 12:00 Wed. 26 May 2004.

• ALLIANCE

  The paper:
  Lynne E. Parker, ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation, IEEE Transactions on Robotics and Automation, 14 (2), 1998.
  Other Papers on ALLIANCE
  Meeting 12:00 Wed. 16 June 2004.

• EPICS

  The paper:
  Dalesio, L. R., Kraimer, M.R., Kozubal, A. J., "EPICS Architecture," in Proceedings of International Conference on Accelerator and Large Experimental Physics Control Systems, C. O. Pac, S. Kurokowa and T. Katoh, Eds. (ICALEPCS, KEK, Tsukuba, Japan, 1991), pp. 278-282.
  Meeting 12:00 Wed. 23 June 2004.
  Presentation: pdf ,html

• RHeXlib , RoboDevel

  The paper:
  E. Klavins and U. Saranli, " Object Oriented State Machines", Embedded Systems Programming Magazine, May 2002.
  Meeting 12:00 Wed. 30 June 2004.

• TinyOS and nesC

  The papers:
  
  • System Architecture Directions for Networked Sensors
    
  • The nesC Language: A Holistic Approach to Networked Embedded Systems
  Meeting 12:00 Wed. 07 July 2004.

• CLARAty

  The papers:
  
  • I.A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin, Won Soo Kim, "CLARAty: An Architecture for Reusable Robotic Software," SPIE Aerosense Conference, Orlando, Florida, April 2003. (730 KB)
    
  • I.A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin, "CLARAty and Challenges of Developing Interoperable Robotic Software," invited to International Conference on Intelligent Robots and Systems (IROS), Nevada, October 2003. (410 KB)
    
  Presentations by JPL
  Meeting MC 103, 12:30 Wed. 14 July 2004.

• Robodaemon (RD11)

  The paper:
  "RoboDaemon - A device independent, network-oriented, modular mobile robot controller" Gregory Dudek and Robert Sim Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, 2003.
  Meeting MC 437, 10:00 Wed. 21 July 2004.

• CAMPOUT

  The paper:
  CAMPOUT: a control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration Huntsberger, T.; Pirjanian, P.; Trebi-Ollennu, A.; Das Nayar, H.; Aghazarian, H.; Ganino, A.J.; Garrett, M.; Joshi, S.S.; Schenker, P.S.; IEEE Transactions on Systems, Man and Cybernetics, Part A, , Volume: 33 , Issue: 5 , Sept. 2003 Pages:550 - 559
  Meeting MC 437, 14:45 Mon. 20 Sept. 2004.

• CARMEN

  The paper:
  M. Montemerlo, N. Roy and and S. Thrun. ``Perspectives on Standardization in Mobile Robot Programming : The Carnegie Mellon Navigation (CARMEN) Toolkit''. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003). Las Vegas, October, 2003. Vol. 3, pp 2436-2441
  

  Meeting MC 437, 14:45 Mon. 27 Sept. 2004.

• DCA
• Three layer Architecures

Links

• Mobile Robotics Lab Homepage
• IEEE Xplore
• CMU Reading group