Robotic OS Goal: Develop a platform open to 3 rd party developers that will become the standard OS for the mobile robotics industry Closest Existing Example –Hardware –Software Challenges Direction Products Schedule

Example – Cye Robot Henry Thorne

Cye - continued Sparse sensors on base –Wheels –Sound Radio communications with a PC Optional Camera, trailer, cordless vacuum.

Cye - continued Software –Map –n- Zap ( –TeamBots 2.0 (

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)

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

Robotic OS Architecture

Products Modules –Model for Localization –Model for Skills –Simulator Applications –Scripter –Localizer –Path Planner –Activity Planner –Vision System 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

Schedule – 85 wwk. 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 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 82 wdys = 16.4 wwk.  5.2 people from 27 Aug.