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[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.                                        ;;;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 



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>