The Mitre Meteor Robot Control Software

“Simulate As You Operate”

Presented by Darrell L Sims

Richard M. WeatherlyFrederick S. KuhlRobert H. Bolling

Robert J. Grabowski

Overview

Background Information

Approach Goals Software

Employment Phases The Tortuga

Framework Conclusion

Background Information

The Defense Advancement Research Projects Agency (DARPA) challenge

Mitre a non profit engineering company

Construct and Implement code within 11 months

Develop and created a software known as Meteor

Approach Employ commercial solutions

Tortuga Framework Java thread agent Apply main focus to certain areas and fan out

the rest Incremental “model-simulate test”

Model by simulating and replaying Test in real situation

Craft the control software and execution environment Receiving maximum utility from software

developement

Software Employment Phases

Primary Goal: Create a single body of code that employed operational, developmental and analytical phases

The development team must achieve three goals Build real time code Support robot control algorithms Record operational data from the field

Operational Employment

Produce vehicle command control and populate agent process sensor inputs

Look outs -I/0 with physical sensors

Watch officers Receive Data

Executives Assess the system state Wait time to pass

Operational Employment Diagram

• Introduction• Goals• Problem• Possible Solutions

Development Employment

Laser Sensor Model Evaluates changing vehicle location and

orientation values to produce geometric values

Determines whether static collection of obstacles

GPS models Compute velocity, orientation, and location

Wheel Rotation Model Analysis of acceleration values to convey

displacement

Development Employment

Analytical Employment

Record Messages using the “Replayer” Managed sensors removed from the

software Using controls found in Tortuga, which

set the ratio from simuation time to real time

Tortuga Framework A product of Mitre sponsored simulation

software Written in Java and incorporates third party

open source software Used as simulation software for air traffic

control and military analysis

Analytical Employment Diagram

Features of Tortuga

Action methods and triggers Action methods

Issued upon a simulation entity Represent the occurrences of exogenous

events or interruptions Ex: arrival of messages

Triggers Boolean predicate Wait in system until a certain condition arises Ex: Entities being with range of a sensor

Conclusion

The simulation structure “process-interaction” method

Future Event List for movement upon arrival

Achieve the employment transparency by a single body of code

Messages communicated through Java Threads

Lost the race

Questions?