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A distributed, multi-language architecture for large unmanned ground vehicles

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David SeidelAuthors Info & Claims

SIGAda '08: Proceedings of the 2008 ACM annual international conference on SIGAda annual international conference

Pages 133 - 138

https://doi.org/10.1145/1454474.1454495

Published: 26 October 2008 Publication History

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Abstract

In this paper, we describe the design and development of a network of large unmanned ground vehicles (LUGVs) using low-cost, off-the-shelf technology and building upon experience gained at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. Our unique distributed architecture allows robots with different capabilities to interact, facilitates the use of multiple programming languages, and supports location and employment transparency of the interacting software agents. We wrote safety-critical and real-time software in Ada to benefit from the language's precise semantics and timing control, while writing navigation, maneuvering, user interaction, and visualization software in Java for rapid, flexible development.

References

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Grabowski, R., Weatherly, R., Bolling, R., Seidel, D., Shadid, M., and Jones, A. MITRE Meteor: An Off-Road Autonomous Vehicle for DARPA's Grand Challenge. The 2005 DARPA Grand Challenge: The Great Robot Race. Springer, (2007), 483--516.

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Bolling, R., Grabowski, R., Jones, A., Shadid, M., Weatherly, R. The MITRE Meteorites 2005 DARPA Grand Challenge Entry. http://www.darpa.mil/grandchallenge05/ TechPapers/MITREMeteorites.pdf.

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Weatherly, R. M., Kuhl, F. S., Bolling, R. H., and Grabowski, R. J. The MITRE Meteor Robot Control Software: Simulate As You Operate. Proceedings of the 38th Winter Simulation Conference, (Dec. 3-6, 2006), 1294--1298.

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Cited By

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(2015)Ada's Legacy: Cultures of Computing from the Victorian to the Digital AgeundefinedOnline publication date: 22-Oct-2015
Sward R(2010)The rise, fall and persistence of AdaACM SIGAda Ada Letters10.1145/1879097.187908130:3(71-74)Online publication date: 24-Oct-2010
Sward RSrivastava ABoleng J(2010)The rise, fall and persistence of AdaProceedings of the ACM SIGAda annual international conference on SIGAda10.1145/1879063.1879081(71-74)Online publication date: 24-Oct-2010
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A distributed, multi-language architecture for large unmanned ground vehicles

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A distributed, multi-language architecture for large unmanned ground vehicles

In this paper, we describe the design and development of a network of large unmanned ground vehicles (LUGVs) using low-cost, off-the-shelf technology and building upon experience gained at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand ...
"Unmanned systems and Ada"
SIGAda 2010

The MITRE Corporation large ground robotic vehicle program relies on GNAT Ada running on the RTEMS open source operating system for all real-time, vehicle steering and propulsion control. This arrangement has worked satisfactorily for two years and has ...
"Unmanned systems and Ada"
SIGAda '10: Proceedings of the ACM SIGAda annual international conference on SIGAda

The MITRE Corporation large ground robotic vehicle program relies on GNAT Ada running on the RTEMS open source operating system for all real-time, vehicle steering and propulsion control. This arrangement has worked satisfactorily for two years and has ...

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Published In

SIGAda '08: Proceedings of the 2008 ACM annual international conference on SIGAda annual international conference

October 2008

150 pages

ISBN:9781605582740

DOI:10.1145/1454474

General Chair:
Michael B. Feldman
The George Washington University, USA
,
Program Chair:
Leemon C. Baird
US Air Force Academy, USA

ACM SIGAda Ada Letters Volume 28, Issue 3
December 2008
129 pages
ISSN:1094-3641
DOI:10.1145/1454497
Issue’s Table of Contents

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 26 October 2008

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SIGAda '08: ACM SIGAda Annual International Conference

October 26 - 30, 2008

OR, Portland, USA

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Cited By

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(2015)Ada's Legacy: Cultures of Computing from the Victorian to the Digital AgeundefinedOnline publication date: 22-Oct-2015
Sward R(2010)The rise, fall and persistence of AdaACM SIGAda Ada Letters10.1145/1879097.187908130:3(71-74)Online publication date: 24-Oct-2010
Sward RSrivastava ABoleng J(2010)The rise, fall and persistence of AdaProceedings of the ACM SIGAda annual international conference on SIGAda10.1145/1879063.1879081(71-74)Online publication date: 24-Oct-2010
Khalili MWeatherly RBolling RJacyna GRobbins SRing KGrabowski BForbes KCicalese C(2010)Heading prediction in unmanned ground vehicles by laser compass2010 IEEE Conference on Multisensor Fusion and Integration10.1109/MFI.2010.5604488(255-260)Online publication date: Sep-2010

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A distributed, multi-language architecture for large unmanned ground vehicles

"Unmanned systems and Ada"

"Unmanned systems and Ada"