Software Infrastructure for a Mobile Robot

In this chapter we describe the software infrastructure developed by the Tartan Racing team to support the perception, planning, behavior generation, and other artificial intelligence components of Boss. The organizing principles of the infrastructure, as well as details of the operator interface, interprocess communications, data logging, system configuration, process management, and task framework are described with attention to the requirements that led to the design. The requirements were treated as valuable re-usable artifacts of the development process.