Toward developing reusable software components for robotic applications

We will present an overview of the CLARAty architecture which aims at developing reusable software components for robotic systems. These components are to support autonomy software which plans and schedules robot activities. The CLARAty architecture modifies the conventional threelevel robotic architecture into a new two-layered design: the Functional Layer and the Decision Layer. The Functional Layer provides a representation of the system components and an implementation of their basic functionalities. The Decision Layer is the decision making engine that drives the Functional Layer. It globally reasons about the intended goals, system resources, and state of the system and its environment. The Functional Layer is composed of a set of interrelated object-oriented hierarchies consisting of active and passive objects that represent the different levels of system abstractions. In this paper, we present an overview of the design of the Functional Layer. The Functional Layer is decomposed into a set of reusable core components and a set of extended components that adapt the reusable set to different hardware implementations. The reusable components: (a) provide interface definitions and implementations of basic functionality, (b) provide local executive capabilities, (c) manage local resources, and (d) support state and resource queries by the Decision Layer.