The CLARAty architecture for robotic autonomy

A Reference Control Architecture for Service Robots Implemented on a Climbing Vehicle

“…Among these frameworks it is possible to highlight the following: OROCOS (Bruyninckx et al, 2002), CLARAty (Volpe et al, 2001), MCA (Scholl et al, 2001), ORCA (Brooks et al, 2005), CARMEN (Montemerlo et al, 2003) and PLAYER (Vaughan et al, 2003). All of them make very valuable contributions that simplify the development of these systems.…”

An Approach to Autonomous Control for Space Nuclear Power Systems

“…The CLARAty duallayer architecture provides an upper (decision) layer for AI software and a lower (functional) layer for controls implementations. The development of CLARAty addresses perceived issues with the three-tiered architecture (Volpe et al, 2001). Those issues are the tendency toward a dominant level that depends on the expertise of the developer, the lack of access from the deliberative or planner level to the control or functional level, and the difficulty in representing the internal hierarchy of each level (e.g., nested subsystems, trees of logic, and multiple time lines and planning horizons) using this representation.…”

“…These rovers employ expanded autonomy over what was feasible for Sojourner and provide model-based recovery, resource management, and autonomous planning capabilities in addition to autonomous obstacle detection and navigation. The integration software architecture used to facilitate MER autonomy is the "Coupled Layer Architecture for Robotic Autonomy" or CLARAty (Volpe et al, 2001). CLARAty provides a dual-layer architecture consisting of a decision layer for artificial intelligence (AI) software and a functional layer for controls implementations.…”

Communication and Collaboration in Heterogeneous Teams of Soccer Robots

“…MARIE itself is written in C++ for UNIX environments. CLARAty (Coupled Layer Architecture for Robotic Autonomy) (Volpe et al, 2001) is an object-oriented framework for robotic systems which focuses reusability and integration of algorithms and components. It basically reduces the software hierarchy to two layers, a decision and an execution layer; realizations of functional requirements can be integrated into the decision layer while the execution layer is not affected.…”