Robotic OS

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.

• 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

• 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