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Robotic OS PowerPoint Presentation

Robotic OS

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Robotic OS

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  1. Robotic OS Goal: Develop a platform open to 3rd party developers that will become the standard OS for the mobile robotics industry • Closest Existing Example • Hardware • Software • Challenges • Direction • Products • Schedule

  2. Example – Cye Robot Henry Thorne

  3. Cye - continued • Sparse sensors on base • Wheels • Sound • Radio communications with a PC • Optional Camera, trailer, cordless vacuum.

  4. Cye - continued • Software • Map –n- Zap (http://www.gadgetmad.com/reviews/cye-sr.htm) • TeamBots 2.0 (http://www.teambots.org)

  5. Challenges • Met • Localization • Skills (User Programmed and built-in) • Recharging, but no stair climbing • Unmet • API for localization • API for skills • Vision • Manipulation • Reasoning (Planning and Scheduling)

  6. Direction Goal: Meet most unmet challenges with an Alpha release due Christmas day, 2001 (ignore manipulation for now…) • Robotic OS consists of: • Localization • Skills • Applications • AI (for robotics) consists of: • Vision • Reasoning

  7. Robotic OS Architecture

  8. Products • APIs • Localization to Skills • Localization to Apps • Skills to Apps • Skills to Effectors • Localization to Sensors • Path Planner to Apps • Activity Planner to Apps • Vision System to Apps • Modules • Model for Localization • Model for Skills • Simulator • Applications • Scripter • Localizer • Path Planner • Activity Planner • Vision System

  9. Schedule – 85 wwk. 82 wdys = 16.4 wwk.  5.2 people from 27 Aug. • Modules – 4 wk. • 1 wk. Model for L. • 1 wk. Model for S. • 3 wk. Sim. • Applications – 80 wk. • 15 wk. Scripter • 15 wk. Localizer • 10 wk. Path Planner • 20 wk. Activity Planner • 20 wk. Vision System • APIs – 2 wk. • Localization to Apps • Localization to Skills • Skills to Effectors • Localization to Sensors • Skills to Apps • Path Planner to Apps • Activity Planner to Apps • Vision System to Apps