Carnegie Mellon University
A Generic Framework for Robotic Navigation

Christopher Urmson, Reid Simmons, and Issa Nesnas
IEEE Aerospace Conference 2003, March, 2003.

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This paper describes progress in the development of a navigation framework for the Coupled-Layer Architecture for Robotic Autonomy (CLARAty). As part of CLARAty, the framework shares the goals of enabling code reuse while maintaining efficiency and accessibility. The framework is roughly divided into generic components along sense-think-act lines. A discussion of the role and structure of each component is presented. An illustrative example is presented of an implementation of a Morphin/D*-based navigation algorithm using this framework. Early results from experimentation in simulation are also presented.

navigation, framework, object oriented

Associated Center(s) / Consortia: Field Robotics Center
Associated Lab(s) / Group(s): Reliable Autonomous Systems Lab

Text Reference
Christopher Urmson, Reid Simmons, and Issa Nesnas, "A Generic Framework for Robotic Navigation," IEEE Aerospace Conference 2003, March, 2003.

BibTeX Reference
   author = "Christopher Urmson and Reid Simmons and Issa Nesnas",
   title = "A Generic Framework for Robotic Navigation",
   booktitle = "IEEE Aerospace Conference 2003",
   month = "March",
   year = "2003",