CLARAty and challenges of developing interoperable robotic software

In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a frammork for generic and reusable robotic components that can be adapted to a number of heterogeneous robot playbrms. It also provides a framework that will simplify the integration of new technologies and enable the comparison of various elements. CLARAty consists of two distinct layers: a Functional Layer and a Decision Layer. The Functional Layer defines the various abstractions of the system and adapts the abstract components to real or simulated devices. It provides a framework and the algorithms for lowand mid-level autonomy. The Decision Layer provides the systems high-level autonomy, which reasons about global resources and mission constraints. The Decision Layer accesses information from the Functional Layer at multiple levels ofgranularity. In this article, we will also present some of the challenges in developing interoperable sofhoare for various rover p l a f o m .