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ICAROUS Modules

ICAROUS modules encapsulate the core functionalities required to enable autonomous operations of unmanned systems.

ACCoRD

A library developed at NASA Langley for airspace applications. ACCoRD contains several useful utilities:

  • Data structures for representing aircraft state data (position, velocity, attitude, etc) in various coordinate frames and units.
  • Data structures to encode EUTL flightplans and manipulations on flightplans.
  • Functions to perform common transformations on aircraft data.
  • Geofence functionality (PolyCARP)
  • Sense and avoid functionality (DAIDALUS)

Core

Suite of libraries implementing autonomous decision making, path planning, traffic avoidance and guidance:

  • EventManager: A template library implementing an event handling framework.
  • Cognition: Decision making functionality impelemented using the EventManager.
  • TrafficMonitor: Traffic avoidance capability (default implementation uses DAIDALUS). Extensible to other sense and avoid tools (e.g. ACAS-X).
  • TrajectoryMananger: Path planning capability and trajectory monitoring capability with respect to other intruders and geofences.
  • Guidance: Trajectory following functionality.
  • Merger: Distributed merging functionality.
  • GeofenceMonitor: Geofence monitoring functionality.
  • TargetTracker: Target tracking and fusion capability (requires GNU Scientific Library - GSL).
  • Utils: Helper functions.
  • Interfaces: Datastructures shared among all the core modules

Compilation

Compile modules as follows:

Linux/OSX

mkdir build
cd build
cmake ..
make -j8

The compiled libraries are located under lib

Setup library paths

  • Define a new environment variable called ICAROUS_HOME to contain the path to the Icarous folder. We recommend using the export command in your ~/.bash_profile (OSX) or ~/.bashrc (Linux) for persistence. For example,
export ICAROUS_HOME=/path/to/icarous
  • Append the lib folder to your DYLD_LIBRARY_PATH (OSX) or LD_LIBRARY_PATH (Linux) variable.
export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$ICAROUS_HOME/Modules/lib

Windows

  • We recommend using vscode for compiling on windows.
  • We recommnd using msys2 to install required packaged.
  • Install MinGW-w64 compiler. See msys2 for installation instructions.
  • Install cmake.
  • Define environment variable called ICAROUS_HOME that contains the path of the Icarous root directory.
  • Include the following in your vscode settings.json file (change path values as needed):
"cmake.cmakePath": "C:\\msys64\\mingw64\\bin\\cmake.exe",
    "cmake.mingwSearchDirs": [
      "C:\\msys64\\mingw64\\bin"
   ],
"cmake.generator": "MinGW Makefiles"
  • Include the following in your vscode cmake-tools-kits.json file (change path values as needed):
  {
    "name": "Mingw64 GCC 9.3.0",
    "compilers": {
      "C": "C:\\msys64\\mingw64\\bin\\gcc.exe",
      "CXX": "C:\\msys64\\mingw64\\bin\\g++.exe"
    },
    "preferredGenerator": {
      "name": "MinGW Makefiles",
      "platform": "x64"
    },
    "environmentVariables": {
      "CMT_MINGW_PATH": "C:/msys64/mingw64/bin/"
    }
  }
  • Add %ICAROUS_HOME%\Modules\lib to the windows path.