Task Manager Issa A.D. Nesnas Vision Max Bajracharya (JPL) Alt. Task Manager Tara Estlin JPL - Issa A.D. Nesnas ARC – Anne Wright CMU – Reid Simmons U. Minnesota – Stergios Roumeliotis Center Leads Infrastructure and Tools Generic base classes I/O Anne Wright (ARC) Test & Release Anne Wright/Max Bajracharya Math & Data Structure Clay Kunz (ARC) Estimation Dan Gaines (JPL) Decision Layer Tara Estlin (JPL) Navigation Reid Simmons (CMU) CLARAty Cog-Es Core Rover Adaptation Richard Petras (JPL) M3: Motion Ctrl, Mobility & Manipulation Wonsoo Kim (JPL) CLARAty Team Science Ted Roush (ARC) Science part of RMSA program

CLARAty Task Manager Issa A.D. Nesnas CLARAty’s Extended Family ARC K9 Task Manager Maria Bualat Autonomous Science Task Manager Ted Roush Program Manager Richard A. Volpe CLARAty ScienceARC – Anne Wright CMU – Reid Simmons U. Minnesota – Stergios Roumeliotis Design & Develop Robotic Infrastructure Integrate RMSA Technologies into CLARAty Develop and maintain K9 Testbed Integrate ARC RMSA Technologies into CLARAty Design and develop science autonomy algorithms Define CLARAty Science infrastructure

Announcements I am making the following changes within the CLARAty task organization (in alphabetical order) Max Bajracharya from JPL will be the newly appointed co-lead for the software test and release area. Together with Anne Wright, Max will formulate a plan for implementing a solid test infrastructure for CLARAty. In addition to this role, Max will continue leading the design and development of the vision package. Max has lead the development of vision package working closely with teams at JPL, ARC, CMU, and U. of Washington Tara Estlin from JPL will be the newly appointed alternative task manager. Tara is leading several interactions with technology providers and future CLARAty collaborators. Tara has led and will continue to lead the development of the Decision Layer. Dan Gaines from JPL will continue leading the estimation area. Dan has made major contributions in the design of a new estimation framework and in getting the estimation implementation operating on Rocky 8. Won Soo Kim from JPL will be the newly appointed Cog-E (lead) for the M3: Motion Control, Mobility and Manipulation area. Won played a critical role together with Matthew Robinson in the design and development of infrastructure needed for adaptation of CLARAty to FIDO (motion control and locomotion). Won also lead the development of the second generation I/O modules. Clay Kunz from NASA Ames will be the newly appointed Cog-E (lead) for the Math and Data Structure package. Clay will be responsible for leading the design and implementation of CLARAty data structures used across all modules and leading the development of the math library. He will also be responsible for leading the design and development of new generic structures for future applications. Clay has been instrumental in the design of the current math and data structure classes and has led the CLARAty team in using STL. He also played an important role in the design and development of the vision package. Reid Simmons from CMU will continue to lead the development of the Navigation area. In addition to the major contributions of CMU to the navigation package, CMU also played a significant role in the redesign of the locomotion classes as well as contributions to various CLARAty designs Ted Roush from ARC will continue to lead the development of the CLARAty science package. Ted has taken a proactive role and led the science working group for defining the infrastructure needed from the science perspective Richard Petras from JPL will be the newly appointed Cog-E (lead) for the Rover Adaptation area. Rich will lead the development and maintenance of all rover adaptations keeping a complete overview of the variations and capabilities across all rovers with a particular focus on Rocky8, FIDO, and Rocky7. Rich has made many contributions to the design of both hardware and software for the Rocky rovers. He has been the cognizant engineer for Rocky 8 and Rocky 7 for several years Anne Wright from NASA Ames will be the newly appointed Cog-E (lead) for the core software modules. Anne will lead the development of the CLARAty infrastructure software and will coordinate the CLARAty usage of third party software. Anne will also lead the design and development of generic physical and functional classes that will serve as base classes for many CLARAty modules. Anne will also be the lead on the I/O package. Anne has made several significant contributions to many areas of CLARAty from its inception several years ago. She has also lead the Ames team in the development and use of CLARAty. She has also been filling this leadership role providing support for the project for over a year. This is a delayed recognition for her contributions. Anne will also co-lead the test and release working group working closely with Max to formulate a plan for testing and releasing CLARAty modules.

Task Manager Responsibilities Project and Plan Provide overall technical leadership and direction for the project Develop a technical plan (include team – e.g. workshop), schedule, and milestones for each fiscal year that meets the goals of the task, the project, and the program Ensure all milestones and deliverables are met within budget and on schedule Develop a financial plan for the task and allocate budget for each center Identify technical area(s) and milestones to be accomplished by each center –Work with center leads to identify areas for technical development to be proposed for the subcontracts –Review proposals and work with JPL Acquisitions to issue contracts to centers Staff the JPL team Address and resolve any technical conflicts by working with the leads and developers Maintain an overall understanding of the CLARAty architecture and status of current software implementation (all packages) Pursue ITAR, IP, NDA and other legal clearances for the project Interactions Work closely with CLARAty leads and technology providers from MTP program Plan and coordinate interaction with MDS, ROAMS, WITS, CLARAty dissemination, and other tasks Explore future potential collaborations with researchers in the community and external companies Establish relationships with other tasks to understand the needs of future potential users Help new members understand the CLARAty architecture Processes Establish rules, policies, and best practices for the task, and ensure proper implementation Review and approve commitments to dependencies of CLARAty on external software, libraries and tools Identify legacy or external software that should be reviewed by the program for integration

Task Manager Responsibilities (continued) Organization and Reporting Hold bi-weekly extended meeting/telecon with all centers and keep team informed on the progress Organize yearly workshop to include all centers and interested users Organize code reviews and formulate review committee – internal Prepare progress and Monthly Management reports to the program and project Report quarterly to the line-management on current progress and status of the task Provide performance evaluation for team members (can also include other centers if requested) Ensure the development and overall documentation is consistent and meets customer needs

Leads Roles and Responsibilities Center Leads only Develop a proposal for the agreed upon statement of work negotiated with the task manager Staff the center team Coordinate activities within a center (multiple projects using CLARAty) Keep task manager informed of staff working on task (contact info) and other interest in using CLARAty All Leads Lead the design, development, implementation and testing of software for the domain area Organize working group meetings to include all interested parties (telecon) to discuss package design and implementation (as needed) Address and moderate working group s to address users/developers questions and concerns Participate in design and code reviews for other focus areas Interact with other leads/developers to ensure minimal overlap in functionality and optimal leveraging of resources Develop an understanding of the various technology components integrated within the domain Maintain regular software releases and be aware of all module releases (claraty-release working group) Maintain up-to-date documentation for the module and packages Maintain an overall understanding of the CLARAty architecture and status of current software implementation for the one’s package Identify algorithms and legacy technologies that should be considered for integration Ensure that all CLARAty standards are implemented Help new members learn and use the packages Propose and review modifications and upgrades to standards Report to task manager regularly on progress

CLARAty Developers Responsibilities Use CLARAty standards to implement assigned software development Provide proper test and demo procedures to allow users to easily understand module Develop and maintain proper documentation for the module Test and release module for all appropriate and actively supported targets Provide feedback for improving processes and ensuring high quality software Interact with leads to develop an understanding of areas outside immediate assignment Help new members get up to speed and learn to use the software Keep up-to-date with the overall status of the project Module Ownership Policy Modules in CLARAty are owned by all developers Module leads are responsible for maintaining cognizance of all activities for that module Module leads can provide any developer temporary ownership of a module: –Developer should get concurrence from module lead for all planned modifications (informal ok) – conflicts should be resolved by lead or task manager –Developer should close the loop with module lead to keep him/her informed of all changes made –Module lead should review and become familiar with changes. –Module lead decides when it is appropriate to make a module release –Module lead can assign module release to the developer gaining temporary ownership Module lead can choose to make modifications instead and release module for developer

CLARAty Users Responsibilities Report all bugs through the “Bugzilla” bug tracking system Provide feedback and proposals for design improvements Provide feedback to improve ease of use and consistency across software Users should only make modifications on YaM branches, not on the main trunk, and should coordinate with the relevant module lead(s) before merging changes with the main trunk and/or making a release. –Users within the program are encouraged to make contributions to the code base Addition of algorithms and technology need to be coordinated with the Task Manager and the program office