Chapter 3: Support Software
3.1 Mobile Support Software
Fleet Operations Workspace Software
The FLOW Core software includes all of the software used for LD platforms and the Fleet Man-
ager appliance.
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the AMR core. It
operates ranging sensors like the safety scanning laser and sonar, and performs all the high-
level, autonomous robotics functions, including obstacle avoidance, path planning, loc-
alization, navigation, and so on, culminating in motion commands to the MARC firmware.
ARAM also controls the battery and light discs, and manages digital and analog I/O, which,
along with AMR power, provide for integration of application-specific sensors and effectors
(user-supplied).
ARAM manages wired and wireless Ethernet communications with offboard software, for
external monitoring, development, and systems coordination, including coordination of a fleet
of AMRs through the optional EM. It also manages integration with other systems, as well as
external monitoring, setup, and control with the MobilePlanner application.
ARAMCentral
ARAMCentral is the software that runs on the EM appliance. This software and the appliance
combined are referred to as the EM.
For a fleet, the ARAMCentral software manages:
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the map that all AMRs use
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the configuration that all AMRs use
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traffic control of the AMRs
This includes multi-robot avoidance, destination, standby, and dock control.
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queuing of jobs for the AMRs
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remote I/O, if you are using it
MobilePlanner
In order to have your AMR perform autonomous mobile activities, you need to make a map of
its operating space, and configure its operating parameters. The MobilePlanner software is
used to make this map and perform this configuration.
Refer to the separate FLOW Core User's Guide for details on how to map a working space and
prepare the virtual elements, goals, routes, and tasks for your application. In particular, refer
to:
13732-000 Rev J
LD Platform Peripherals Guide
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