Autonomous robotics has observed remarkable advancements over the years, having been prompted by the demand for robots to execute intricate tasks in dynamic environments. Central to these advancements is the development of robust planning architectures that enable robots to plan, perceive, and carry out tasks autonomously. One such architecture is OpenRAVE, an open-source software architecture created to handle the complexities of robotic planning and control.
OpenRAVE (Open Robotics and Animation Virtual Environment) offers a smooth interface for 3-D simulation, visualization, planning, scripting, and control of robots. This system is designed with a high degree of modularity, permitting users to write tailor-made plugins for different components such as robot controllers, sensing subsystems, and planning algorithms. It supports network-based scripting environments enabling remote control and monitoring of robots, a fundamental feature that enhances flexibility in executing robotic tasks, and making real-time adjustments.
OpenRAVE architecture is divided into several layers: Core, GUI, scripting, and plugin. This division ensures a clear separation of functionalities and improves modularity and scalability. The core layer oversees the internal state of the system, updates the environment and manages communication with plugins. The GUI layer provides visualization tools for monitoring and debugging, while the scripting layer facilitates high-level control and execution of planning algorithms.
OpenRAVE has practical applications in manipulation/analytics (e.g., Barrett WAM arm autonomous grasping and manipulation experiments), and real-time execution and monitoring (as exemplified in the “robotic busboy” experiment). This architecture enables seamless transition from simulation to realization and enhances flexibility for different robotic platforms and sensors.
Given the complexity of modern day tasks being assigned to robots, the development of advanced and refined planning architectures like OpenRAVE is key. Providing a flexible, open-source platform for integrating planning algorithms with real-time control systems, OpenRAVE allows researchers and developers to handle complex robotic tasks efficiently. Its modular design and robust interface make it an invaluable tool in the realm of robotics.
