CLARAty: Challenges and Steps toward Reusable Robotic Software | Zendy

Issa Nesnas | Zendy; Reid Simmons | Zendy; Daniel Gaines | Zendy; Clayton Kunz | Zendy; Antonio Díaz-Calderón | Zendy; Tara Estlin | Zendy; Richard Madison | Zendy; J. Guineau | Zendy; Michael McHenry | Zendy; I-Hsiang Shu | Zendy; David Apfelbaum | Zendy

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CLARAty: Challenges and Steps toward Reusable Robotic Software

Author(s) -

Issa Nesnas,

Reid Simmons,

Daniel Gaines,

Clayton Kunz,

Antonio Díaz-Calderón,

Tara Estlin,

Richard Madison,

J. Guineau,

Michael McHenry,

I-Hsiang Shu,

David Apfelbaum

Publication year - 2006

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5766

Subject(s) - computer science , software , robotics , robot , artificial intelligence , robotic paradigms , control software , software framework , software engineering , object (grammar) , human–computer interaction , software development , control (management) , component based software engineering , programming language

We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and execution. CLARAty was adapted to a number of heterogeneous robots with different mechanisms and hardware control architectures. In this paper, we also describe how we addressed some of these challenges in the development of the CLARAty software

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