NDLI: CLARAty and challenges of developing interoperable robotic software

Content Provider	IEEE Xplore Digital Library
Author	Nesnas, I.A.D. Wright, A. Bajracharya, M. Simmons, R. Estlin, T.
Copyright Year	2003
Description	Author affiliation: Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA (Nesnas, I.A.D.)
Abstract	We 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 various elements. CLARAty consists of two distinct layers: a functional layer and a decision layer. The functional layer defines the various abstractions of the system and adapts the abstract components to real or simulated devices. It provides a framework and the algorithms for low- and mid-level autonomy. The decision layer provides the system's high-level autonomy, which reasons about global resources and mission constraints. The decision layer accesses information from the functional layer at multiple levels of granularity. We also present some of the challenges in developing interoperable software for various rover platforms.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found
Starting Page	2428
Ending Page	2435
File Size	728064
Page Count	8
File Format	PDF
ISBN	0780378601
DOI	10.1109/IROS.2003.1249234
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hardware Propulsion Laboratories NASA Intelligent robots Uncertainty Real time systems Environmental management Algorithm design and analysis Collaboration
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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