Experimental Evaluation of Data Flow Control on Three-Layered Architecture for Planetary Rover

Firstly, our proposed software architecture for tele-operated systems such as planetary exploration rovers is introduced. The architecture modularizes each function as a software module. It makes advanced extendibility and flexible task management by connecting with a database via a network. And the database manages the modules. As a result, it improves efficiency in development and operation stages of tele-operated systems. In this paper, we evaluate validity of the architecture from a view of variability. In order to evaluate it, the problems that should be solved in tele-operator are considered, and then we discuss and show how the proposed architecture responds to these evaluation criteria. Finally, the rover testbed with the prototype software shows the feasibility and validity of the architecture.