Modular Software for an Autonomous Space Rover
Sylvain Joyeux, Jakob Schwendner, Thomas M. Roehr
In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS-2014), 17.6.-19.6.2014, Montreal, Québec, o.A., Jun/2014.
The increasing diffculty of space exploration missions, human support and maintenance of infrastructure push the expectations for future robotic systems. Complex software systems are required to autonomously perform mobile manipulation and interaction tasks in a robust fashion. Component based software development and software frameworks provide a way for effcient implementation. This paper introduces the Rock framework, which uses a model driven approach to handle the complexity of component networks which can reconfigure at run-time. The Artemis Rover, which participated at the SpaceBot Cup competition is used as an example where the Rock framework has been successfully applied to a mobile manipulation system.