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CLARAty Robotic Software

Welcome to the CLARAty web site. This site contains information about the CLARAty reusable robotic software framework, videos of the capabilities that were demonstrated on real and simulated robotic platforms, and information on how to download and run the software. CLARAty stands for Coupled-Layer Architecture for Robotic Autonomy.   It is a collaborative effort among four institutions: Jet Propulsion Laboratory, NASA Ames Research Center, Carnegie Mellon, and the University of Minnesota.

Also included on this site is information on the development team and contributors who provided algorithms and infrastructure since CLARAty's inception. We are grateful to the numerous contributions from this community as well as for the support of the Mars Technology Program and other NASA programs.

CLARAty is a framework that promotes reusable robotic software. It was designed to support heterogeneous robotic platforms and integrate advanced robotic capabilities from multiple institutions. Consequently, its design had to be portable, modular, flexible and extendable.

We are in the process of releasing most of the CLARAty infrastructure and several of its algorithms that have been approved for public release. Our objective is to engage the robotic community in the development and advancement of surface mobility and robotic control algorithms for challenging environments.

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To provide a flexible and reusable robotic software framework to support the development and integration of advanced robotic technologies under the Mars Technology Program and other NASA programs. CLARAty also promotes the interoperability of components and algorithms on heterogeneous robotic platforms.


  • Establish a working group of roboticists from NASA and partnering universities.
  • Capture requirements for robotic capabilities
  • Develop and document a flexible framework to support advanced technologies on multiple robots.
  • Prototype proposed framework to demonstrate improved capability over legacy systems
  • Adapt to a number of robotic platforms and capture lessons learned
  • Revise, improve, and document the framework
  • Disseminate to the robotics community and engage for future enhancements.

Sections of this web site will prompt for a login. These are currently intended for use only by participants of the NASA Mars Technology Program.