1. JPL Robotics Technology Program Rover Navigation for Very Rough Terrain - 1 Overview (GUI Part) 1.pRRT Viewer Initialization Execute Vortex_Runner (Vortex_Visualizer) Execute Rover_Runner (Rover_Visualizer) Registration initial position initial goal position set RRT type set distribution for RRT goal position initial car position register objects (ground, origin, marks)

2. JPL Robotics Technology Program Rover Navigation for Very Rough Terrain - 2 Architecture 1.Vortex Visualizer : This part is replaced with ROAMS. Vortex_Visualizer Vortex_GL Sim_Terrain GL_Path_TreeGL_Goal_Path Car Tree_Executor GL_Cylinder pRRT_Visualizer Environment Vortex_Rover_State Vortex_Action pRRT_Core Vortex API Interface & pRRT Core Part Standard Open GL & pRRT Core

3. JPL Robotics Technology Program Rover Navigation for Very Rough Terrain - 3 Approach 1.Vortex API : If we use ROAMS, we can replace these whole parts because we use vehicle model, terrain and graphic library of ROAMS visualizer. Vortex_GL Sim_Terrain Car Environment Vortex API Vehicle Model Terrain Information Graphic Library ROAMS API

4. JPL Robotics Technology Program Rover Navigation for Very Rough Terrain - 4 Approach 2.Interface part : This part is implemented in Vortex_Wrappers. When we replace Vortex with ROAMS, this part is mainly involved in. a)Vortex_Wrappers includes set of functions to communicate between pRRT core algorithm and Simulator (to visualize and simulate dynamically). b)Handle information like velocity, curvature, simulation step, position, yaw, state, and etc. c)Keep the same wrapper interface, but change internal part to actually interact with ROAMS. d)Collision checking module is required. Vortex_Wrappers Vortex_Rover_State Vortex_Action Vortex_Simulator

5. JPL Robotics Technology Program Rover Navigation for Very Rough Terrain - 5 Conclusion 1.Vortex API part can be replaced with ROAMS API. 2.We mainly need to modify Vortex_Wrappers part. This wrapper class is providing functions to communicate with a simulator. 3.ROAMS simulator has already almost functions, but need some more to actually implement. a)Collision checking module b)Visualizing planned path in ROAMS simulator : We already have functions to visualize based on Open GL library. Additionally we need to figure out how to reuse this module in ROAMS.