# Presentation: 430918

## CLARAty: Coupled Layer Architecture for Robotic Autonomy& CLARAty on FIDO  

- Issa A.D. Nesnas
- Ames Research Center
- Carnegie Mellon University
- Jet Propulsion Laboratory
- October 25, 2002
- Mars Technology Program Year-End Review  FY02

## Presentation Overview

- Quad Chart
- Background and Overview
- Relevance to the missions
- CLARAty Team and Collaborators
- Level I & II Milestones
- Accomplishments
- CLARAty running on FIDO
- CLARAty Software Package developments
- Distributed development process and testbed
- Future Plans
- Publications and website

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty: Coupled Layer Architecture 

_**Objective**_
- 	 Develop a unified and reusable robot control software that facilitates the integration of new technologies on various robotic and rovers platforms
_**Milestones – FY01 through FY05**_
- Prototype robotic software and implement on various rover platforms
- Integrate and demonstrate technology components from MTP RMSA program
- Demonstrate low-, mid- and high-level autonomy

***CLARAty: Coupled Layer Architecture ***
***for Robotic Autonomy***

**Schedule and Funding**

**Task Manager:** Issa A.D. Nesnas, JPL
- (818) 354-9709, nesnas@ jpl.nasa.gov
**Participating Organizations:**
- JPL
- NASA Ames Research Center
- Carnegie Mellon University
**Facilities:**
- Rocky 8, Rocky 7, K9, FIDO, and CLARAty testbed
- ROAMS, WITS
- JPL Mars Yard***	******http://claraty.jpl.nasa.gov/***

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Background & Objectives

- Why are we doing this work?
- To capture and preserve robotics expertise from JPL and  other centers
- To provide a framework for future NASA rover technology development and integration
- To reduce the cost of integrating new technologies
- To operate various robots from a unified framework
- To eliminate cost of redeveloping basic robotic infrastructure

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## What is CLARAty?

- CLARAty is a *unified *and *reusable ***software** that provides robotic functionality and simplifies the integration of new technologies on robotic platforms

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Relevance to the Missions

- Why is this work relevant to the missions?
- Provides a  *common environment* for development, test, and comparison of advanced robotic technologies
- Provides an infusion path for robotics technologies into flight missions
- Demonstrates technologies on relevant robotic systems
- Makes research rovers viable test platforms for flight algorithms (e.g. navigation)
- Is robust to changes in rover hardware designs
- Can be easily adapted to new research and flight prototype rovers (for ground-based testing)

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Measuring Success or Failure

- We succeed **IF **we:
- Significantly reduce integration time of new technology software onto real robotic systems
- Support multiple platforms with different hardware architectures
- Provide a service that is enabling for technologists
- Simplify the development/integrate/debug/test cycle for current and next generation NASA rovers
- Have people other than the developers using and “*like*” the system

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Team

***CLARAty/Rocky8/Rocky7***
- Max Bajracharya (34)
- Edward Barlow (34)
- Caroline Chouinard (36)
- Gene Chalfant (34)
- Hari Das (34)
- Tara Estlin (36)
- Dan Gaines (36)
- Mehran Gangianpour (34)
- Dan Helmick (34)
- Won Soo Kim (34)
- Michael Mossey (31)
- Issa A.D. Nesnas (34) (Task Manager)
- Ashitey Trebi-Ollennu (35/34)
- Richard Petras (34) (Rocky lead)
- Stergios Roumeliotis (Univ. of Minnesota)
- Kevin Watson (34)

**NASA Ames Research Center**
- Maria Bualat
- Clay Kunz
- Randy Sargent
- Anne Wright (lead)
**Carnegie Mellon University**
- Kam Lasater
- Reid Simmons (lead)
- Chris Urmson
- David Wettergreen
- Andy Yang
**Jet Propulsion Laboratory**    ***CLARAty on FIDO Team***
- Hrand Aghazarian (35/34)
- Terrance Huntsberger (35/34)
- Chris Leger (35/34)
- Matthew Robinson (35/34)

- Five Summer Students

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Collaborations (1/2)

**JPL - MDS Team**
- Participated with MDS team on CLARAty/MDS infusion task
- Supported MDS by upgrading Rocky 7 to MSL-like hardware and provided working version of CLARAty software for migration to MDS
**JPL - ROAMS Team (A. Jain)**
- Close collaborations for the integration of the Functional and Decision Layers to the ROAM rover simulation
**JPL - CLEaR Team (F. Fisher)**
- Provided an instantiation of the CLARAty Decision Layer, integrated, tested and debugged on Rocky 7 and Rocky 8 rovers
**JPL - Instrument Simulation Team (M. Lee)**
- Worked closely with instrument simulation team to develop spectrometer and spectra infrastructure for CLARAty.

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Collaborations (2/2)

_**RMSA Teams:**_
**ARC - Science Analysis Team (T. Roush)**
- Close interactions to support integration of science analysis into the CLARAty environment.
**JPL - Slope Navigation (L. Matthies)**
- Collaboration for integration of visual odometry on rover platforms
**University of Washington (C. Olson & R. Li)**
- Close collaboration for integration of bundle adjustment and wide baseline stereo
**Carnegie Mellon University (A. Stentz)**
- Integration of D* path planner for long range traverse
**Ames Research Center (E. Bandari)**
- Integration of visual tracking
**ALERT Team (former REE)**
- Providing CLARAty communication and rover control infra-structure to REE for a navigation demonstration on Rocky 8

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Level I:  Demonstrate long range traverse using the integration of global path planning and local navigation capabilities provided through the CLARAty architecture (09/2002) 
Level I: Demonstrate a CLARAty capability such as vision-based navigation (using the GESTALT navigator) onto the FIDO rover platform
Level II: Demonstrate mission-like scenario for visiting multiple science targets using improved position estimation 
Demonstrate CLARAty locomotion functionality by interfacing to ROAMS at the motor control

**Level I: **Demonstrate a CLARAty capability such as vision-based navigation (using the GESTALT navigator) onto the FIDO rover platform
**Level II:** Demonstrate mission-like scenario for visiting multiple science targets using improved position estimation
- Demonstrate CLARAty locomotion functionality by interfacing to ROAMS at the motor control

- Milestones for FY02

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Accomplishments

## A Two-Layered Architecture

_***THE DECISION LAYER:***_ Declarative model-based Mission and system constraintsGlobal planning

**        **CLARAty = Coupled Layer Architecture for Robotic Autonomy

***INTERFACE:*** Access to various levelsCommanding and updates

_***THE FUNCTIONAL LAYER:***__*** ***_Object-oriented abstractionsAutonomous behaviorBasic system functionality

**A Two-Layered Architecture**

- Adaptation to a system

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## General

- ITAR document complete and submitted to NASA HQ for submission to State Department
- Setup several working groups with flexible signup
- Upgraded and consolidate all VxWorks licenses (6 seats with full tool suite support)
- Setup a repository for 3rd software CLARAty depends on (ACE, Perl, Qt, etc.)
- Multiple team members can administer CLARAty site
- Established web-based operations (testbed, meetings, plans, procurements)
- CLARAty moved to using ACE for OS portability
- CLARAty supports several systems: VxWorks, Linux, Solaris, Mac X

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Currently Supported Platforms

**Solaris**

**x86**

- Ames

- JPL

***Rocky 8***

**x86**

**VxWorks**

**Linux**

***Rocky 7***

***K9***

***ROAMS***

***FIDO***

- CMU

**Linux**

***ATRV***

**x86**

- JPL

***FIDO***

**VxWorks**

**x86**

- JPL

**ppc**

**VxWorks**

- JPL

**Linux**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Challenges in Interoperability

## Distributed Hardware Architecture

- x86 Arch
- Wireless ethernet
- 1394 FireWire
- I2C Bus

***Rocky 8***

- Compact PCI

***Widgets***
- Single Axis Controllers
- Current Sensing
- Digital I/O
- Analog I/O

- Actuator/Encoders

- Potentiometers

- I2C Serial Bus

- 1394 Bus

- IMU

- RS232
- Serial

- Sun Sensor

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Custom Architecture/Variability

- m68k Arch
- Framegrabbers
- Digital I/O
- Analog I/O
- Wireless ethernet

***Rocky 7***

- VME Arch

- Actuator/Encoders

- Potentiometers

- Parallel Custom Interface
- MUX/Handshaking

- Video Switcher

- Gyros

- Accels

- AIO

- AIO

- PID Controllers

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Centralized Hardware Mapped Architecture

- x86 Arch
- Framegrabbers
- Digital I/O
- Analog I/O
- Wireless ethernet

***Fido***

- PC104

- Actuator/Encoders

- Potentiometers

- PID Control in Software

- Video Switcher

- IMU

- RS232
- Serial

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty on FIDO Adaptation 

- CLARAty on FIDO Adaptation

*Controlled_Motor_Impl*

- ControlledMotor

- Linear_Axis

- Joint

- Non-Resuable Layer

- R8_Motor

- Fido_Motor

- Sim_Motor

- Trajectory

- Trajectory_Generator

- Mz<Type>

- HCTL_Chip

- Widget_Board

- Widget_Motor

- PID Controller

- Counter

- DIO

- Analog Out

- Analog In

- MSI P460

- MSI P430

- MSI P415

- MSI P430

- Non-Resuable

- Resuable

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Code Reusability 

- Code Reusability

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Adapting to a Rover

- Hardware Drivers

- Generic
- Functional Layer

- Rocky 8
- Specialized
- Classes
- &
- Objects

- Connector

- Decision Layer

- Multi-level access Connector

- Rocky 8
- Models/
- Heuristics

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## The Decision Layer

- Executives
- (e.g. TDL)

- General Planners
- (e.g. CASPER)

- Activity Database

- Rover Models

- FL Interface

- Plans

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## The Functional Layer

- Transforms

- Motion Control

- Vision

- Estimation

- Input/Output

- Manipulation

- Navigation

- Communication

- Math

- Hardware Drivers

- Locomotion

- Rover

- Behaviors

- Path Planning

- Rocky 8

- Rocky 7

- K9

- FIDO

- Science

- Simulation

- Sensor

- Adaptations

- Base

**Thickness indicates work****done in area in FY02**

**Primarily in****CLARAty on FIDO**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Software Packages

## Base Package

**Developed Generic Physical Component Base classes**
- Math and Data Structure modules
- Merging of array/matrix development in Ames branch with the main branch. Added support for sub-arrays, and STL iterators
- Bits and I/O modules (JPL)
- New implementation of bits, digital and analog I/O modules to be more consistent with the rest of CLARAty, to provide support for reentrancy and to increase efficiency
- Telemetry module (ARC)
- Added telemetry modules to represent data and parameter sets, handles general serialization and deserialization, provide multi-threaded clients, and increase efficiency
- Device module (ARC)
- Provide base classes for all devices such as cameras, arms, masts, locomotors, etc. Uses telemetry classes and provides generic interfaces for accessing telemetry from any device in a consistent manner
- Power System module (ARC)
- Provides information on devices such as power sources, batteries, and battery chargers. Implemented specializations for K9 power hardware

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

- Developed algorithms for partially-steered and fully-steered vehicles
- Developed continuous driving capability (JPL)
- Demonstrated on Rocky8 & Rocky7, and currently on FIDO (JPL)
- Third generation redesign (CMU)
- Separated locomotor model from control
- Added concept for wheel, steerable wheel, drive cmds, and drive sequences.
- Adapting to Rocky 8, Rocky7, ATRV, FIDO, and K9
- Tested on Rocky 8, Rocky 7 and simulation (including ROAMS)

- Locomotion Package

- (c)
- Steerable Axle
- (e.g.Hyperion)

**Continuous Driving and Separated Model from Control**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Example: collaborative development for locomotor

- JPL - 1998

- CMU - 2002

- FutureARC - 2003

- Designed for Rocky 7
- Used Motor class
- Separated wheel control from locomotion
- Built-in pose estimation

- Generalized design for wheeled locomotors
- Full and partially steerable vehicle
- Used generic motor classes
- Implements fixed axle model
- Developed continuous driving
- Adapted to Rocky 8, Rocky 7,  and Sim

_**Version 1.0**_

_**Version 2.0**_

- Separated model from control
- Add separate locomotor state
- Add concept of wheel andsteerable wheel, Drive Cmd, Drive Sequence
- Adapt to ATRV, Sim,  Rocky 7, Rocky 8

_**Version 3.0**_

- Redesign/ mature

- Redesign/ mature

_**Version 4.0**_

- Use device and telemetryinfrastructureAdd adaptation to K9

- Add

- JPL - 2001

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Vision Package

- Developed generic infrastructure for vision
- Generic Camera, Stereo Camera, Camera Models, Image, Image operations (e.g. rectification, edge and corner detection), Image I/O, and Image transport
- Provided wrappers for vision algorithms
- JPL Stereo, CAHVOR models, ARC Stereo, SVS Stereo, SLOG tracker
- Adapted package to various rovers
- Rocky 8, K9, FIDO, Rocky 7 are currently using the same vision infrastucture
- Worked with Machine Vision Group to support integration visual odometry into CLARAty
- Worked with RMSA team (Olson, Roush), ARC, CMU, M. Lee in the development of this package

**Developed generic Image and Camera infrastructure**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

- Completed and tested FIDO-based EKF port to CLARAty (JPL)
- Two tier Kalman Filter
- Estimating heading (IMU + odometry), x, and y (odometry)
- Created second generation design for the Estimator module (JPL & Univ. of Minnesota)
- Handle non-EKF based estimators
- Designed to better integrate with Locomotor and other model infrastructure
- Assume filter primary functions are to propagate state and update measurements

- Estimation Package

**FIDO EKF now fully integrated and tested in CLARAty**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Navigation & Mapper Package

- New modular design for the Navigator (CMU)
- Based on generic action-selector - can be adapted to support navigation technologies
- Specialized action selector to Map-based selector
- Tightly integrated local and global cost functions (D*)
- Navigator interfaces with Locomotor, Location Estimator, and Terrain  Map generator.
- Refactored Gestalt to separate terrain evaluation from action selection (JPL)
- Developed infrastructure to process multi-tiered panoramic images for terrain evaluation (JPL)
- Acquired complete 3-D map of Mars Yard

**Developed Generic Navigation Infrastructure **

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

- Demonstration of CLARAty Navigation Infrastructure in Simulation (CMU)

- DStar Map (final state)
- global cost function

- Morphin Terrain Analysis
- (scene from simulator)

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

- Resurrected dexter platform and made part of CLARAty testbed (JPL)
- Some upgrades to manipulation package to support acquisition of multi-tiered panoramic images (JPL)

- Manipulation Package

- Dexter

**Dexter Manipulation platform now part of CLARAty testbed**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

- Developed adaptation of the CLARAty controlled motor classes to interface with ROAMS simulation (JPL)
- Tested Locomotor sending commands to wheels which in, turn, send commands to controlled motors (JPL)
- Specialized Sim_Motors turn commands into streams for socket-based communication
- Drove Simulated Rocky 8 rover with new locomotor (CMU)
- Interface between DL/FL (rover-level and ROAMS) is also available

- Simulation Package

**CLARAty Locomotor talking to ROAMS via motor cmds**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

- Continued interactions with T. Roush’s team for integration of science analysis and spectrometer functionality in CLARAty
- Analysis code checked in the repository:
- Carbonate Analysis
- Edge Layer detection
- Continued interactions with Meemong Lee’s for interface with science instruments, analysis, and simulation. Code available in repository
- Calibrated Reflectance Spectrum
- Uncalibrated Spectrum

- Science Package

**Infrastructure for Spectrometer and terrain analysis **

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Decision Layer Package

- Integrated D* Path Planner with Decision Layer
- Developed infrastructure for sharing terrain map with FL
- Migrating a version of CLEaR (CASPER/TDL) into CLARAty repository. Now available are:
- TCM - Task Control Management used by TDL
- Tangent Graph Path Planner (as used by DL)
- D* Path Planner (as used by DL)
- TBD: TDL and Java utilities
- Unifying DL dependencies to use the CLARAty modules (e.g. path planners - tangent graph, D*), etc.
- Ported Decision Layer (ASPEN/CASPER) to Linux

**Decision Layer integrated D* Path Planner**

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Level I Milestone

- Nesnas/JPL

**DECISION LAYER**

**FUNCTIONAL LAYER**

- Terrain Map from Laser

- D* Path Planner

- Terrain Map
- from Laser

- Path

- Rover

- Navigator

- Position Estimator

- Estimator

- Kalman Filter

- Locomotor

- IMU

- R7_Rover

- R8_Rover

- R7_Locomotor

- R8_Locomotor

- Motor

- R7_Motor

- R8_Motor

- Widget Board

- Stereo Engine

- Camera

- CameraPX610

- Camera1394

**FUNCTIONAL LAYER**

- Wheel

- Locomotor Model

- Camera_Image

- D* Star

- JPL Stereo

- Connector

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Long Range Traverse Scenario

- Mars Yard

- Extending the Trailer

- Garage Door

- Rocky 7 going into trailer

- Trailer

- Working Desk
- w/ Computer

- The unliftable Rocky 8

- Main Door

- Sand Box
- (important for indoor testing)

- Wood to prevent sand
- from entering working area

- Start

- Waypoint 1

- Waypoint 2

- Waypoint 3

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Development Process and Testbeds

## Software Development Process

- Repository

*AFS Backbone*

- CMU

- JPL

- CLARAty

- Repository

- 3rd Party

- Releases

- Web

- UW

- ...

- VxWorks

- ARC

- Rocky 8

- FIDO

- Rocky 7

- Benchtops

- Benchtops

- Benchtops

- K9

- Repository

- ATRV

**Some CLARAty Statistics**
- ~170 Modules (reusable entity)
- ~31 Packages (module grps)
- ~3 rovers
- ~250,000 lines of  C++ code
- ~Java/scripts/ and models

*Authentication*

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Testbed (1/2)

- Rocky 8  Benchtop

- Dexter  ManipulatorsRocky 7  Benchtop

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## CLARAty Testbed (2/2)

- 5 cPCI embedded targets (x86, ppc)
- 2 Linux and 5 Solaris hosts/targets
- AFS VxWorks installations (Tornado I, II, II.2, x86, ppc)
- Mockups for Rocky 8, FIDO, and Rocky 7
- Remotely accessible to CLARAty developers & users
- Web-based target status and control
- Small lab sandbox built for indoor testing
- Several remote and local users exercising testbed (MDS, CMU, ARC, JPL)
- Online sign up for target/rover usage
*http*_[://](http://claraty.jpl.nasa.gov/testbed)__[claraty](http://claraty.jpl.nasa.gov/testbed)__[.jpl.](http://claraty.jpl.nasa.gov/testbed)__[nasa](http://claraty.jpl.nasa.gov/testbed)__[.](http://claraty.jpl.nasa.gov/testbed)__[gov](http://claraty.jpl.nasa.gov/testbed)__[/](http://claraty.jpl.nasa.gov/testbed)__[testbed](http://claraty.jpl.nasa.gov/testbed)_

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Rocky 8 Upgrades

- Computational modules
- CPU up to 1.2 GHz Pentium Pro w/ 256 MB (easily swappable)
- FireWire 1394 Cameras (front/back)
- Wireless 22 MB/sec sysLink Ethernet
- I2C Master Control Board (Tracii)
- Explored upgrade of widget processors to PIC18xx - product has bugs, awaiting new revision
- Electromechanical
- Upgraded all motors to COTS motors and encoders
- Rewired motor assemblies to make identical and simplify repair
- New Li-ion battery system (6-7 hour operation)
- Fixed steering slippage problem, upgraded camera and battery boxes.

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Rocky 7 Upgrades

- Computational modules
- Moved from VME backplane to cPCI
- CPU - PPC750 300MHz w/ 256 MB - extended temperature
- PX610 B/W Imagenation framegrabbers (x2)
- New Digital  and Analog I/O boards (S720 and industry pack - Acromag)
- New 11 MB/s sysLink wireless ethernet
- Electromechanical
- Fabricated new LM629 custom motion control boards (x3)
- Several mechanical repairs
- Software
- Upgraded most CLARAty drivers to support new hardware - relatively seamless transition

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Summary of Accomplishments

- Established a distributed inter-center software development process
- Provided a remotely accessible rover testbed
- Collaborated with MDS to define CL/MDS infusion process
- Developed major software infrastructure in the following packages:
- Vision, Navigation, Estimation, Science, Locomotion, Motion Control, I/O, Simulation and FIDO adaptation
- Upgraded Rocky 7 to MSL-like hardware (PPC)
- Upgraded Rocky 8 to FireWire cameras
- Integrated Decision Layer and path planning
- Completed and submitted ITAR document

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## FY03 Plans

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Publications & Website

**http://claraty.jpl.nasa.gov**
- T. Estlin, F. Fisher, D. Gaines, C. Chouinard, S. Schaffer, and I. Nesnas, “Continuous Planning and Execution for an Autonomous Rover,” To appear in the *Proceedings of the Third International Workshop on   Planning and Scheduling for Space*, Houston, TX, Oct 2002
- I.A.D. Nesnas, “CLARAty - An Architecture for Reusable Robotic Software,” CSMISS IT Spotlight Series, June 19, 2002
- I.A.D. Nesnas, R. Volpe, T. Estlin, H. Das, R. Petras D. Mutz, "Toward Developing Reusable Software Components for Robotic Applications" *Proceedings of the International Conference on Intelligent Robots and Systems (IROS),* Maui Hawaii, Oct. 29 - Nov. 3 2001. pdf (8 pages, 2MB)
- T. Estlin, R. Volpe, I.A.D. Nesnas, D. Mutz, F. Fisher, B. Engelhardt, S. Chien, "Decision-Making in a Robotic Architecture for Autonomy." *Proceedings of 6**th** International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS),* Montreal Canada, June 18-21 2001. pdf (8 pages, 72KB)
- R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "The CLARAty Architecture for Robotic Autonomy." *Proceedings of the 2001 IEEE Aerospace Conference, Big Sky Montana, March 10-17 2001.* pdf (12 pages, 470 KB)
- R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "CLARAty: Coupled Layer Architecture for Robotic Autonomy." *JPL Technical Report D-19975*, Dec 2000. pdf (116 pages, 904 KB)

- CLARAty FY02 Review- I.A.N.

- October 25, 2002

## Thank you for your Attention