Issa A. D. Nesnas

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This paper presents an overview of a newly developed Coupled Layer Architecture for Robotic Autonomy (CLARAty), which is designed for improving the modularity of system software while more tightly coupling the interaction of autonomy and controls. First, we frame the problem by briefly reviewing previous work in the field and describing the impediments and(More)
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a framework for generic and reusable robotic components that can be adapted to a number of heterogeneous robot platforms. It also provides a framework that will simplify the integration of new technologies and enable the comparison of(More)
We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and(More)
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a frammork for generic and reusable robotic components that can be adapted to a number of heterogeneous robot playbrms. It also provides a framework that will simplify the integration of new technologies and enable the comparison of(More)
0-7803-8870-4/05/$20.00© 2005 IEEE 2 IEEEAC paper #1405, Version 5, Updated December 30, 2004 Abstract— With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase allows not only the collection of more science data, but enables a number of new and different science collection opportunities. Current(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)
This paper presents an overview of the intelligent decision-making capabilities of the CLARAty robotic architecture for autonomy. CLARAty is a two layered architecture where the top Decision Layer contains techniques for autonomously creating a plan of robot commands and the bottom Functional Layer provides standard robot capabilities that interface to(More)
Planetary rovers enable good sample selection and retrieval for Mars sample return missions. After landing, the rovers search for the best possible scientific samples in the region around a lander, and they return these selected samples to an ascent vehicle that launches the samples into Mars orbit. To streamline the search for, the acquisition, and the(More)
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 threelevel robotic architecture into a new two-layered design: the Functional Layer(More)