Resilient Real-Time Reasoning RISC-V Robotic Operating System (R5OS)

A key element of the rapid growth autonomous systems is the availability of open, reusable frameworks and libraries of software such as the Robot Operating System (ROS). AI/ML enhanced computing systems for automated vehicle applications are rapidly advancing but may not meet spaceflight environmental requirements. Combining ROS and RISC-V based processing systems provides a pathway to rapidly evolving autonomous systems for space applications. Secmation proposes Resilient Real-Time Reasoning RISC-V Robotic Operating System (R5OS). The goal of R5OS (Pronounced “R-Five-OS”) is to evolve ROS into a capable, reliable, deployable tool for space robotics. Key R5OS elements: • Porting of ROS to RISC-V. R5OS will port ROS infrastructure and a suite of ROS nodes to relevant RISC-V hardware paving the way to High Performance Spacecraft Computing (HPSC) processor transition. A key element of the R5OS transition is a formal testing program to ensure transitioned components maintain the functionality and reliability of the original components. • Rapid ROS development. Secmation’s AutonomyLock software, developed for the Office of Naval Research for robotic systems development, adds DevSecOps capabilities to the R5OS workflow reducing ROS development time and cost. • Flexible mixed criticality processing. Many ROS nodes that control driving, manipulation, and similar physical interactions should be executed with real-time constraints. Other nodes, such as path planning, may not lend themselves to real-time operation. R5OS will demonstrate a mixed criticality real-time/non-real-time implementation of ROS leveraging Secmation’s Anneal real-time hypervisor developed for the Missile Defense Agency. • Alignment with AI/ML open standards. The Open Neural Network Exchange (ONNX) standard provides a path to more easily deployable, maintainable, reusable AI/ML neural network applications. R5OS will demonstrate ONNX integration with ROS including AI/ML hardware acceleration.
Benefits: R5OS combines several elements for success as a key element of NASA robotics systems for exploration applications on the Moon and Mars. Robotics supporting these operations will need to evolve from exquisite systems to more flexible systems to support preparation for human exploration and habitation. Although size, weight, and launch cost will continue to be driving factors, increased launch availability and need to support new applications will begin to grow the number of deployed robotics systems. R5OS will provide a path to rapidly develop, deploy, and adapt these systems once deployed to meet new challenges. By combining open architectures in a robust, reliable, and secure development platform, R5OS will enable NASA to rapidly adopt new autonomous systems technologies into these exploration systems maximizing their functionality to support mission objectives. The US Department of Defense (DoD) is beginning a transition to the wider use of autonomous systems to support the warfighter. These systems will provide logistics, reconnaissance, and other key support functions reducing risk to military personnel. The DoD is also transitioning to open architectures, such as the Modular Open Systems Approach (MOSA), across crewed and uncrewed systems. R5OS leverages development for the Office of Naval Research and Missile Defense Agency that provides a pedigree to support DoD applications. By including high reliability ROS functionality, rapid development, and AI/ML support along with advanced cybersecurity R5OS could be deployed across multiple evolving DoD autonomous systems. Commercial applications are also evolving past core autonomous capability development to focus more on reliability and cybersecurity. Autonomous systems in highly regulated applications (ex. self-driving trucks) will need to incorporate these capabilities to meet certification requirements. For commercial applications that leverage ROS, R5OS would enable a rapid, low-cost transition to a higher capability platform. R5OS provides an option for this transition not currently available to developers providing an expanding market opportunity.