Open Source Robotics Foundation Inc

BUILDING A ROBOTICS COMMONS

SIMULATION AND CONTROL FOR PLANETARY ROVERS

HISTORICALLY, ROBOTICS RESEARCH AND DEVELOPMENT HAS BEEN A FRACTURED AFFAIR, WITH LITTLE COMMONALITY IN INFRASTRUCTURE, AND EVEN LESS REUSE OF THE SO

WE PROPOSE TO DEVELOP, DELIVER, AND SUPPORT AN OPEN SOURCE ROBOT SIMULATION SYSTEM FOR USE BY THE ORGANIZERS AND COMPETITORS IN THE NASA SPACE ROBOTI

VIRTUAL ENVIRONMENT TO SUPPORT OCEAN ROBOTICS

WE PROPOSE TO RESEARCH AND DEVELOP SIMULATION AND CONTROL SOFTWARE FOR USE WITH ROVERS THAT ARE OPERATED REMOTELY. WHILE WE EXPECT OUR WORK TO BE BROADLY APPLICABLE TO REMOTELY OPERATED VEHICLES IN GENERAL WE TAKE AS OUR MOTIVATING USE CASE THE RESOURCE PROSPECTOR (RP) MISSION WHICH IS CURRENTLY UNDER DEVELOPMENT AT NASA. WE WILL BASE OUR WORK ON GAZEBO AN OPEN SOURCE HIGH-FIDELITY ROBOTICS SIMULATION ENVIRONMENT THAT OUR TEAM HAS DEVELOPED FOR OVER 15 YEARS AND ROS (ROBOT OPERATING SYSTEM) AN OPEN SOURCE COLLECTION OF ROBOT SOFTWARE WHICH WE DISTRIBUTE MAINTAIN AND DEVELOP IN COLLABORATION WITH A WIDE NETWORK OF CONTRIBUTORS FROM ACADEMIA GOVERNMENT AND INDUSTRY. WE WILL MAKE OPEN SOURCE IMPROVEMENTS TO THESE EXISTING SYSTEMS THAT CAN BE USED BY ANY FUTURE ROVER MISSION. WE PROPOSE TO HELP MEET THE SOFTWARE DEVELOPMENT AND TESTING NEEDS OF PLANETARY ROVER MISSIONS SUCH AS RP BY DEVELOPING ROS AND GAZEBO SYSTEMS AND CONFIGURATION. OUR NEAR-TERM GOAL IS TO SUPPORT THE USE OF GAZEBO-BASED SOFTWARE SIMULATION IN BUILDING EVALUATING AND PRACTICING WITH REMOTE OPERATION INTERFACES BY IMPLEMENTING A PROTOTYPE ROBOTIC SYSTEM ARCHITECTURE USING EXISTING ROS COMPONENTS. AS MISSION SOFTWARE COMPONENTS ARE DEVELOPED THEY CAN REPLACE THE PROTOTYPE COMPONENTS IN THE ARCHITECTURE WHILE MAINTAINING A COHESIVE SYSTEM FOR END-TO-END TESTING AND DEVELOPMENT.

SECURE CONTROL ARCHITECTURES FOR MARITIME ROBOTICS