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Open Robotic OS for Mobile Robotics: A Standard Platform for Developers

The goal is to develop an open platform for third-party developers, establishing a standard OS for the mobile robotics industry. Drawing inspiration from existing systems like Cye Robot, we aim to address challenges in localization, skill programming, and AI applications, including vision and reasoning. Our roadmap targets an Alpha release by Christmas 2001, focusing on crucial components like APIs, mapping, and modular architecture. This initiative will enable developers to create advanced robotic applications seamlessly integrated with hardware and software platforms.

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Open Robotic OS for Mobile Robotics: A Standard Platform for Developers

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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

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