MODULARITY & COMPOSITION: AUTOMATING SYSTEM SYNTHESIS Jason - - PowerPoint PPT Presentation
MODULARITY & COMPOSITION: AUTOMATING SYSTEM SYNTHESIS Jason Ziglar, PhD Candidate Bradley Department of Electrical and Computer Engineering Dr. Ryan Williams 1 , Dr. Al Wicks 2 1 Laboratory for Coordination at Scale 2 Applied Autonomy and
1Laboratory for Coordination at Scale 2Applied Autonomy and Mechatronics Lab
Virginia Polytechnic Institute and State University
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[arXiv:1706.04580 cs.RO]
Obstacle Mapper
LIDAR Maps Pose ROI Computer Ethernet RS-232 USB
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Task Requirements Device Resources Task Device Modules
LIDAR Interface LIDAR LIDAR RS-232
LIDAR Filter LIDAR Obstacle Mapper LIDAR LIDAR Maps
LIDAR Perception Computer Operator Computer RS-232 Ethernet LIDAR Interface LIDAR Filter Obstacle Mapper GUI LIDAR LIDAR Maps LIDAR Interface LIDAR Filter Obstacle Mapper GUI LIDAR LIDAR Maps
LIDAR Filter LIDAR Obstacle Mapper LIDAR LIDAR Maps
LIDAR Interface LIDAR LIDAR RS-232 GUI Maps
Perception Computer Ethernet RS-232 Operator Computer Ethernet
7 SLAM LIDAR Maps IMU Pose
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Video Credit: VT
ESCHER Field Computer Operator Control Stations
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Synthesized
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