MissionLab v5.0

Latest Version:	5.0.02
Release Date:	01/31/2002 (Updated on 04/01/2002)

Announcement

The Mobile Robot Laboratory at Georgia Tech is pleased to announce the release of MissionLab v5.0 multiagent robotics mission specification and control software. MissionLab takes high-level military-style plans and executes them with teams of real or simulated robotic vehicles. MissionLab supports execution of multiple robots both in simulation and actual robotics platforms, including device drivers for controlling iRobot's ATRV-Jr and Urban Robot, ActivMedia's Pioneer AT, and Nomadics Technologies' Nomad 150 & 200. Each vehicle executes its portion of the mission using reactive control techniques developed here at Georgia Tech.


mlab with the Learning Momentum Interface	CfgEdit with the Q-Learning Configuration

MissionLab System Key Components

mlab -- console-like program from which a user monitors the progress of experimental runs of the robot executables
CfgEdit -- graphical tool for building robot behaviors - the designer can build complex control structures with the point and click of a mouse
cdl -- compiler that translates the configuration description language of the robot missions
cnl -- compiler that compiles the configuration network language to generate a C++ code
HServer -- hardware server that directly controls all the robot hardware and provides a standard interface for all the robots and sensors

Improvements

MissionLab can be now run on RedHat Linux 7.1.
Specialized reinforcement learning methods ("learning momentum") to adjust behavior gains at run-time was integrated.
Q-learning methods for behavioral assemblage selection at a level above gain adjustment was integrated.
Graphical user interface for a Case-Based Reasoner to generate a mission plan through the use of "wizards" to guide high level deliberative planning was added. Note: The Case-Based Reasoner itself is not included in this distribution. If you are interested in MissionLab with this functionality, please send us email to mlab‍@‍cc.‍gatech.‍edu.
Line-of-Sight Communication functionality was added.
MicroNavigation behaviors were added.
HServer now supports iRobot ATRV-Jr, multiple SICK laser range finders, Crossbow DMU-VGX gyroscope, and KVH C100 compass.
Various existing bugs have been fixed

Downloads

MissionLab v5.0 distribution (9.1 MB - You need at least 200 MB of a disk space to install and play with MissionLab.)
Required operating system and support software:

RedHat Linux 6.2 or 7.1
GNU gcc 2.95.2 or 2.95.3
Open Motif 2.1 (Recommended) or LessTif 2.0
README file (4.0 KB)
README.COMPILE file (5.9 KB)
User Manual in PostScript (2.3 MB)
"Multiagent Mission Specification and Execution" (A paper describing key concepts used in MissionLab) (2.7 MB)

MissionLab is being developed at the Mobile Robot Laboratory at Georgia Tech under the direction of Professor Ronald Arkin. MissionLab distribution includes unsupported source code. Please feel free to download it and send any feedback to mlab‍@‍cc.‍gatech.‍edu

Mobile Robot Laboratory, College of Computing
Georgia Institute of Technology

MissionLab v5.0

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