Service-Oriented Robotic Architecture Supporting a Lunar Analog Test
During the last 18 months, the Intelligent Robotics Group (IRG) of NASA Ames has transitioned its rover software from a classic ad hoc system to a Service-Oriented Robotic Architecture (SORA). Under SORA, rover controller functionalities are encapsulated as a set of services. The services interact u...
| Main Authors: | , , |
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| Format: | Text |
| Language: | English |
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2008
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| Online Access: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.154.3977 http://www.ic.arc.nasa.gov/m/pub/1416h/1416%20(Flueckiger).pdf |
| Summary: | During the last 18 months, the Intelligent Robotics Group (IRG) of NASA Ames has transitioned its rover software from a classic ad hoc system to a Service-Oriented Robotic Architecture (SORA). Under SORA, rover controller functionalities are encapsulated as a set of services. The services interact using two distinct modalities depending on the need: remote method invocation or data distribution. The system strongly relies on middleware that offers advanced functionalities while guaranteeing robustness. This architecture allows IRG to meet three critical space robotic systems requirements: flexibility, scalability and reliability. SORA was tested during summer 2007 at an analog lunar site: Haughton Crater (Devon Island, Canada). Two rovers were operated from a simulated habitat and remote ground control centers, allowing a full-scale evaluation of our system. 1. |
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