[16] Survey of Mobile Robot Development Environments
This list provides a look at mobile systems that people are using. The
list includes robot base information, as well as hardware and software
environments used in the systems.
This is an updated and abridged survey compiled by Willie Lim
The complete file, which includes a list of
organizations and the original messages can be ftp'd from
ftp://ftp.ai.mit.edu/pub/mobot-survey.text
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;; ;;;
;;; ;;;
;;; RESPONSES TO INFORMAL SURVEY ON DEVELOPMENT ENVIRONMENTS ;;;
;;; FOR MOBILE ROBOTS ;;;
;;; ;;;
;;; ;;;
;;; ;;;
;;; Updated: Tue Dec 6 08:59:45 1994 ;;;
;;; Created: Sat May 23 09:37:24 1992 ;;;
;;; ;;;
;;; Maintained by: wlim@lehman.com (for now) ;;;
;;; ;;;
;;; Please send updates, additions, corrections, etc. to: ;;;
;;; wlim@lehman.com ;;;
;;; ;;;
;;; A complete version of this survey including detailed ;;;
;;; descriptions of the various projects is available via ;;;
;;; anonymous ftp from the host ftp.ai.mit.edu as the file ;;;
;;; /pub/mobot-survey.text. ;;;
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Organization Robot Development Languages &
Type HW Environment SW Enviroment
============= ==== ============== =============
Alcatel Alsthom Indoor robot SPARC II, VME proc VxWorks, MOTIF
Recherche (AAR) Outdoor robot
Brown U. a)Mobile robots SPARC I & II, OS/9, GNU Emacs, Xlib,
VME 68030 MOTIF, Forth, C, C++
b)2 RWI B12's Sparc 10s/Solaris offboard UNIX, Motif, C++, Lisp, Rex, X
c)2 RWI B24's 486 Linux onboard, arms
CMU a) SM^2(walker) VME 68020 & 68030, Chimera II RTOS, C,
Sun Sun tools
b) AMBLER VME 68020 & 68030, MOTIF, VxWorks,
SPARC II, Iris X windows, C
c) Mobile Mani- Z8088s, Sun IPC & ELC, X Window, Lisp, C, Hero-
pulator NeXT Basic
d) Mobile robot SPARC, Iris, Mac, X windows, Openwindows,
VME, Maspar, Titan VxWorks, Chimera RTOS,
TCA, GIL, LISP
e) Navlab Sun-4 X windows, C
Colorado Sch. Denning MRV-3 Sparc IIs, IPXs, C, X11, Khoros, potential fields
of Mines IBM RS/6000s X11 visualization tool (homemade)
Colorado St. 6-legged robot 68HC11EVM, AT C
Cornell U. 2 mobile robots Gespak 68000, Intel Scheme, Lucid Lisp
(robot with 80c196, Sun(?)
tank-tread
base coming)
Cray Research(?)Mobile robot MC68HC16EBV, 386 Assembler
Georgia Tech Denning DRV-1 SUN IPC, Decstation, X windows, C,
& MRV-II Microvax II Lisp
Grumman CRC SmartyCat Mac II's/IIci's, C, CLOS, LISP, SAL
(Cybermotion uExplorer, SGI VxWorks(soon)
K2A) 68030 VME board(soon)
LLV (Grumman SGI, 68030 VME board, C, CLOS, LISP, SAL
Long Life Veh., mini-boards.
the US Postal
Truck)
IBM TJ Watson TJ, TJ2 Symbolics, RS/6000, LISP, CLOS, CLIM,
(1989?-1992) 286, 386, Suns C, X-windows, MOTIF,
GNU Emacs
ISX Corp Subsumption Mac II cx's/ci's C(?)
JPL 7 robots Suns to 6811 RCCL, ALFA
McGill U Mobile robot Sparcs, mc68hc11, PC GNU, X, Small-C
C, C++
QUADRIS SUNs, Macs, C-40, 68K C, X-windows, IRIS GL
Michigan Tech. Tracy 6502, Apple IIe, SUN, C, Assembly
U. 68HC11
Unnamed(Andros)
Minirobots 6811
MIT 20 robots Mac II & IIsi, HC6811 Behavior Language
GOPHER (ISR R2) 68332, Mac, Sun GCC, Behavior Language,
Lisp, X-windows
Polly VME, 6811, Mac Senselisp(Scheme)
SOZZY(homemade) 6811, Mac Lisp, Behavior Language
MITRE Denning MRV-1 MacQuadra, uExplorer Lisp, REX/GAPPS, C, C++
Northeastern U. Lobster Robot HC11, Mac C, Pascal, Assembly
Phaeton Sun 4/330, Mac C, epsilon (Cognex),
(Denning MRV3) X-windows
NRC of Canada EAVE Mac II's, 68020's C, HARMONY OS, MacAPP
(Cybermotion)
NC State Mobile robot VME 68020 & 68040, OS/9, P/NET
Osaka U. Homemade VME 68030, SUN IPX, C, X-windows
Sparc 2
Purdue U. PETER Sun4, 68030 C, VxWorks
(Cybermotion)
SRI FLAKEY Sparc10/30, Z80 Lucid Lisp, C, X-windows
Stanford Landmark based Mac IIci C, LISP
Navigation
(Nomadic)
Swiss FIT Mobile robot Mac MacMETH, Modula-2
U of Central a) 6-leg walker Commodore 64 SuperC, C
b) 6-leg walker Amiga 500 C
U of Edinburgh a) ALDER 8052, SUN, PC Basic
(Fischertecknik)
b) CAIRNGORM 68000, SUN C
(Fischertecknik)
c) Bill (RWI) PC, transputers C
d) Ben Hope(RWI) transputers C
e) (LEGO based) 68000 C, CPL
U of Mass., Denning DECstation 5000, C, LISP
Amherst Sparcstation
U of Michigan BORIS (TRC) 486, Decstations, SGI, Borland C++, FORTH, DOS
RS/6000
CARMEL (K2A) 286, 486, (ditto) Borland C++, FORTH, DOS
MAVERIC 486, Sparc 10, Lisp, GCC, Borland C++, X, DOS
Datacube, (ditto)
U of New Underwater Sparcstation, VxWorks, C(?)
Hampshire robots CMOS VME boards
U of South Cybermotion K2A Z-80, 68000 PASM, GEHPL, UNIX,
Carolina & K3A, Heathkit DOS/Windows
Hero 1 ET-18
U Wash. Denning HP 9000 series 300's, Gensym G2, OS/9
68000 LLAMA (Forth), Lisp, C
Worcester Poly- James NEC 76310, 68HC11, Assembly, Small-C (DOS)
technic Inst. (RWI B12) Gateway 2000 PC
Wright Lab, Hero 2000 286 MS C (DOS), Assembly
Wright-Pat. Air
Force Base
VTT (Technical Akseli HP-1100, 386 MS-DOS, LynxOS (soon)
Research Center C
of Finland)
Last-Modified: Sun Aug 11 08:52:44 1996
Kevin Dowling <nivek@cmu.edu>