Issa A. D. Nesnas

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We will present an overview of the CLARAty architecture which aims at developing reusable software components for robotic systems. These components are to support autonomy software which plans and schedules robot activities. The CLARAty architecture modifies the conventional three-level robotic architecture into a new two-layered design: the Functional(More)
framework for while maintajning the ability to easily integrate platform-specific algorithms. Abstract In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a pamework for generic and reusable robotic components that can be adapted to a number of heterogeneous robot platforms. It also(More)
| Current rover designs use on-board ma-nipulators to enhance their capabilities for planetary exploration and in-situ science. In this paper, we d e-scribe how these manipulators can be used to perform two types of operations: rock sample acquisition for return to earth and instrument placement for in-situ science measurements. We describe the(More)
|Manipulators mounted on-board rovers have limited dexterity due to power and weight constraints imposed by r o ver designs. However, to perform science operations, it is necessary to be able to position and orient these manipulators on science targets in order to carry out in-situ measurements. This article describes how w e enhance manipulator dexterity(More)
This paper presents the development, validation, and deployment of the visual target tracking capability onto the Mars Exploration Rover (MER) mission. Visual target tracking enables targeted driving, in which the rover approaches a designated target in a closed visual feedback loop, increasing the target position accuracy by an order of magnitude and(More)
— The future exploration of small Solar System bodies will, in part, depend on the availability of mobility platforms capable of performing both large surface coverage and short traverses to specific locations. Weak gravitational fields, however, make the adoption of traditional mobility systems difficult. In this paper we present a planetary mobility(More)
— Several potentially important science targets have been observed in extreme terrains (steep or vertical slopes, possibly covered in loose soil or granular media) on other planets. Robots which can access these extreme terrains will likely use tethers to provide climbing and stabilizing force. To prevent tether entanglement during descent and subsequent(More)