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Tekkotsu: A Rapid Development Framework for Robotics
E. Tira-Thompson
master's thesis, Robotics Institute, Carnegie Mellon University, May, 2004.

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Robotics software encompasses several difficult realms of computer science, requiring vision, manipulation, and intelligent planning, all in real time. Unfortunately, all must be in place for any significant results to be achieved. The common problem is that in order to test a new algorithm in one of the component fields, basic implementations of all of the other fields must first be provided. Further, a poor implementation in one area may hide what would be an otherwise successful solution in another.

This report presents my development of a framework to encompass six classes of primitives that compose mobile robot applications. They are: User Interface, Perception, Control Structure, Manipulation, Mapping, and Memory/Learning. In addition, methods for combining primitives and resolving resource conflicts between them will be discussed.

Associated centers: VASC, MRTC, SRI, and FRC
Associated labs/groups: Tekkotsu Lab, Reliable Autonomous Systems Lab, Human-Robot Interaction Group, and Robot Learning Lab
Associated project: Skinnerbots

Number of pages: 34

E. Tira-Thompson, Tekkotsu: A Rapid Development Framework for Robotics, master's thesis, Robotics Institute, Carnegie Mellon University, May, 2004.

@mastersthesis{Tira-Thompson_2004_4718,
   author = "Ethan Tira-Thompson",
   title = "Tekkotsu: A Rapid Development Framework for Robotics",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "May",
   year = "2004",
   address = "Pittsburgh, PA"
}