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Posted by Yoichiro Endo on July 12, 2006, 5:07 pm
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http://www.cc.gatech.edu/ai/robot-lab/research/MissionLab
The Mobile Robot Laboratory at Georgia Tech is pleased to announce the
release of MissionLab v7.0 multiagent robotics mission specification and
control software. MissionLab takes high-level military-style plans and
executes them with teams of real or simulated robotic vehicles.
MissionLab supports execution of multiple robots both in simulation and
actual robotics platforms, including device drivers for controlling
iRobot's ATRV-Jr and Urban Robot, ActivMedia's AmigoBot and Pioneer AT,
and Nomadics Technologies' Nomad 150 & 200. Each vehicle executes its
portion of the mission using reactive control techniques developed here
at Georgia Tech.
MissionLab v7.0 features the following improvements and extensions over
the earlier version 6.0:
* Communication sensitive behaviors (communication recovery,
communication preservation, and internalized plan) were implemented.
* HServer's localization capability was improved by incorporating
probabilistic sensor fusion methods (Extended Kalman Filter, Particle
Filter, etc.).
* An auction-based task allocation algorithm (Contract-Net Protocol) was
integrated into the CBR Wizard in order to improve the multirobot
mission specification process.
* A script-based mission management mechanism (CMDLi), which enables
coordination of heterogeneous robots launched from heterogeneous
software platforms (Georgia Tech's MissionLab, UPenn's ROCI, and USC's
Player/Stage), has been integrated.
* CBR Wizard's automated mission repair mechanism has been integrated.
* mlab now supports OpenGL 3D graphic display.
* MissionLab can be now compiled with gcc 4.1.
* The installation steps have been greatly improved.
The key components of MissionLab v7.0 are:
* [mlab] -- console-like program from which a user monitors
the progress of experimental runs of the robot executables
* [CfgEdit] -- graphical tool for building robot behaviors -
the designer can build complex control structures with the
point and click of a mouse
* [cdl] -- compiler that translates the configuration
description language of the robot missions
* [cnl] -- compiler that compiles the configuration network
language to generate a C++ code
* [HServer] -- hardware server that directly controls all
the robot hardware and provides a standard interface for
all the robots and sensors
* [CBRServer] -- case-based reasoning server that generates
a mission plan based on specs provided by the user by
retrieving and assembling components of previously stored
successful mission plans
MissionLab is being developed at the Mobile Robot Lab
at Georgia Tech under the direction of Professor Ronald
Arkin. MissionLab distribution includes an unsupported
source code. Please feel free to download it from our site
(http://www.cc.gatech.edu/ai/robot-lab/research/MissionLab/)
and send any feedback to: mlab@cc.gatech.edu.
Yoichiro Endo
Mobile Robot Laboratory, College of Computing
Georgia Institute of Technology
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