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.