MissionLab v6.0

Latest Version: 6.0.00
Release Date: 04/06/2003
Announcement

The Mobile Robot Laboratory at Georgia Tech is pleased to announce the release of MissionLab v6.0 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 AmigoBot and 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.


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
  • CBRServer -- case-based reasoning server that generates a mission plan based on specs provided by the user by retrieving and assembling components of previously stored successful mission plans
Improvements (Since v5.0)
  • CBRServer that implements the case-based reasoning of the mission-planning wizard (Prototype II) was bundled in this distribution.
  • D* Lite Planner incorporated into MissionLab.
  • Mechanism for learning behavioral parameterization using spatio-temporal case-based reasoning was integrated.
  • Telop now accepts joystick inputs and its new controller interface can display the status of hardware and communication performance.
  • Vector-field visualization tool added to mlab.
  • Dynamic obstacle placement feature added to mlab.
  • HServer now supports ActivMedia's AmigoBot.
  • MissionLab now compiles with RedHat Linux 8.0.
  • Various existing bugs have been fixed.
Downloads
  • MissionLab v6.0 distribution (8.6 MB - You need at least 200 MB of a disk space to install and work with MissionLab.)
    Required operating system and support software:
    • RedHat Linux 7.x or 8.0
    • GNU gcc 2.96, 3.1, or 3.2
    • Open Motif 2.1 (Recommended) or LessTif 2.0
  • README file (3.9 KB)
  • README.COMPILE file (5.5 KB)
  • User Manual in PDF (1.7 MB)
  • "Multiagent Mission Specification and Execution" [ps.gz] [pdf] (A paper describing key concepts used in MissionLab)
  • "Evaluating the Usability of Robot Programming Toolsets" [ps.gz] [pdf] (A paper describing the first formal usability study conducted on MissionLab)
  • "Usability Evaluation of High-Level User Assistance for Robot Mission Specification" [ps.gz] [pdf] (Another paper describing one of the latest formal usability studies conducted for the DARPA MARS program)
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
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