This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its benefits and limitations.


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    Titel :

    Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned


    Beteiligte:
    L. J. M. E. Fluckiger (Autor:in) / H. H. Utz (Autor:in)

    Erscheinungsdatum :

    2013


    Format / Umfang :

    28 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

    Fluckiger, Lorenzo Jean Marc E / Utz, Hans Heinrich | NTRS | 2013




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