2010 Call for Proposals PR2 Beta Program

A Platform for Personal Robotics CFP Released: January 15, 2010 Intent to Respond Due: February 1, 2010 Final Proposal Due: March 1, 2010

Willow Garage

68 Willow Road

Menlo Park, CA 94025

Willow Garage

January 15, 2010

Table of Contents 1 Overview .................................................................................................................................................................3 1.1 The Vision.......................................................................................................................................................4 1.2 The PR2..........................................................................................................................................................4 1.3 PR2 Beta Program Description.......................................................................................................................5 1.4 Eligibility .........................................................................................................................................................5 1.5 Why Open Source?.........................................................................................................................................5 1.6 About Willow Garage.......................................................................................................................................5 2 PR2 Beta Program Scope and Definition .............................................................................................................6 2.1 Scope..............................................................................................................................................................6 2.2 Activities and Requirements ...........................................................................................................................6 2.3 Evaluation........................................................................................................................................................7 2.4 Technical Support............................................................................................................................................7 3 Eligibility .................................................................................................................................................................8 4 Proposal Selection ................................................................................................................................................9 4.1 Proposal Selection Considerations..................................................................................................................9 4.2 Selection Committee.......................................................................................................................................9 5 Important Dates....................................................................................................................................................10 6 Guidelines for Submission...................................................................................................................................11 6.1 Intent to Respond .........................................................................................................................................11 6.2 Research Proposal Submission Requirements.............................................................................................11 6.3 Information....................................................................................................................................................13 6.4 Limitations.....................................................................................................................................................13 Appendix 1: Intent to Respond Sample Letter.....................................................................................................14 Appendix 2: Beta Program Acceptance Letter ....................................................................................................15 Appendix 3: Open Source Commitment Letter ...................................................................................................17 Appendix 4: Researcher Profile Template............................................................................................................18 Appendix 5: PR2 Beta Agreement ........................................................................................................................19

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1 Overview Willow Garage invites proposals from research organizations interested in using the PR2 (Personal Robot 2) to accelerate robotics research, drive open-source robotics development, and contribute to the open-source robotics community. Willow Garage, a research and development company, has developed and integrated software and hardware platforms for personal robotics. The beta hardware platform is called the PR2, and the open-source software platform is called ROS (Robot Operating System). Approximately ten PR2s will be made available to research organizations that will make rigorous and creative use of the robot in existing or planned research projects. By making the PR2 platforms available to researchers and developers, Willow Garage’s objectives for this beta program are fourfold:  enable scientific breakthroughs in personal robotics  expand the open-source robotics community  develop reusable components and tools  explore new applications for personal robots Willow Garage’s goal is to facilitate progress in the area of personal robotics, and to develop a world-wide community of researchers and developers contributing to open-source. Willow Garage works to facilitate progress in the area of personal robotics by sponsoring community-building activities and events, internship programs and visiting scholars. The Figure 1: The PR2, a two-armed mobile robotic PR2 robotic platform evolved from the prototype robot in development platform. Professor Ken Salisbury’s lab at Stanford. ROS was inspired by Morgan Quigley’s Switchyard system, built as part of the STanford Artificial Intelligence Robot (STAIR) project led by Stanford Professor Andrew Ng. This Call for Proposals is the beginning of an important open-source robotics community-building effort. It is our hope that the PR2 platform will focus attention and foster the sharing of open-source code to enable the development of new robotics systems, tools and applications.

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Figure 2: Original PR1 from Stanford (left) and the Willow Garage PR2 Beta (right).

1.1 The Vision Willow Garage imagines a future where robots support human activities in an interactive and safe way. Personal robots will do both complex and routine tasks for people in a multitude of environments. For example:  assisting aging populations: carrying objects, remembering where objects are, retrieving items, preparing food  aiding people with disabilities: assisting with feeding, monitoring health, activity and medicine schedules  helping in household chores: doing laundry, tidying up, doing the dishes, cleaning, maintaining organization  performing operational activities: pick and pack, stocking grocery shelves, tracking inventory, retrieving items By making available a common hardware platform, we hope to enable a community of researchers to develop the algorithms and software needed to make robots able to carry out such tasks.

1.2 The PR2 The PR2 is an open and robust robot platform designed from the ground up for software developers. By eliminating the need to first build a hardware system and then re-implement code, the PR2 enables software experts to immediately create new functionality on the robot. Similar in size and proportions to a human, the PR2 is optimized for everyday tasks and situations, such as navigating in office buildings, opening doors, and manipulating objects. The PR2 robot is an integrated system that includes arms, mobility, sensors and computation, thereby eliminating the difficult and costly process of building a robot from the ground up. The PR2 platform is open, robust, fully-integrated, and extensible. For technical specs, please visit http://www.willowgarage.com/pages/robots/technical-specs. ROS is an open-source development environment designed to handle the complexity of a mobile manipulation platform. Out of the box, ROS provides the PR2 user with basic perception, planning, and control capabilities, as well as an extensive set of analysis, visualization, and debugging tools. ROS is designed to make it Page 4

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simple to share components, and to build integrated software systems that can be easily used with other robot platforms. Researchers and developers can use the existing system as a base, extending it as needed, and developing new components where appropriate. To make a rough analogy, ROS does for robots what Linux does for personal computers: providing a basic system that is open-source to its core, so that researchers and developers can dig in and change any part they deem necessary.

1.3 PR2 Beta Program Description Approximately ten beta PR2 robots will be made available through this program. The PR2s will be leased at no cost on a year-to-year basis not expected to exceed two years. The PR2s should be used as tools to further currently planned or presently funded scientific research. Feedback from PR2 Beta users will be incorporated into future revisions of the hardware and software, with the goal of improving the robustness and applicability of the system. The community of PR2 users will meet every two months by teleconference to share successes, issues and insights. Much of the value of this program will come from the interaction among community members. Subject to the terms of the agreement governing the relationship, Willow Garage will reserve the right to reassign any PR2 that it deems underused, or whose hosting organization is not making available as open-source code the libraries outlined in their proposal. Willow Garage hopes that PR2 recipients will also make available any other libraries that they develop for the PR2 beyond those included in their original proposal.

1.4 Eligibility All research organizations are eligible to apply for the PR2 Beta Program. Additional criteria are discussed in Section 3, Eligibility.

1.5 Why Open Source? Software problems in personal robotics present a vast engineering challenge. Rapid progress will be possible if researchers and developers are not working in isolation, but can use code and ideas created by others, and in turn share their own software with the community. Willow Garage is committed to this open source philosophy. The PR2 Beta Program is designed to be a catalyst, enabling the natural development of an open source community in robotics by providing a common hardware platform. The power of this approach is demonstrated with the success of Linux. This success is due not only to the fact that Linux is free to use, but also that anyone is free to modify it. An extensive ecosystem of companies has grown to support Linux in a variety of ways: providing maintenance; packaging distributions; running server hosting companies; building embedded devices; writing proprietary applications on top of Linux; and building web applications running on Linux servers. Linux runs inside of phones, DVRs, PCs, and mainframes, supporting applications from personal information management to internet search (Google). All of this is possible because Linux is open-source, and available for commercial use. An open-source robotics platform can generate a similar ecosystem from which everyone—system builders, application developers, the academic community and end-users alike—will benefit.

1.6 About Willow Garage Willow Garage is a research and development company, committed to investing in and fostering the next generation of robots and robotic systems. A founding principle of the company is its dedication to open source—allowing Page 5

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researchers and developers to more easily share and build on one another’s work. At any given time, between five and twenty interns from graduate programs around the world, and a handful of post-docs and visiting professors, are hosted at Willow Garage to further their research and contribute to the open source community. The goal of Willow Garage's collaborative, community-based approach is to move the field of robotics forward at a faster pace.

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2 PR2 Beta Program Scope and Definition What can the PR2/ROS platform do for you, and what can you do for the open source robotics community? Willow Garage is seeking proposals that promise to use the PR2 in creative ways, and contribute the resulting software back to the ROS community.

2.1 Scope Approximately ten PR2 Beta platforms will be made available through this program. Each PR2 will be leased on a year-to-year basis not expected to exceed two years. The PR2 Beta Program will begin with a kick-off meeting at which all participants will have an opportunity to meet, learn about the hardware and software, and share their project goals. Beta sites will receive:  a complete PR2 platform with PR2 maintenance, technical support, and travel support (for program-related trips to Willow Garage), subject to the terms of the Beta Agreement.

2.2 Activities and Requirements Beta sites will be required to:  establish a publicly, anonymously accessible download location for code released during the project(s). Anyone should be able to download the released code without prior permission, contact, password, registration, or other restrictions. Community sites such as SourceForge.net and Google Code work well for this purpose.  apply an OSI-approved license (http://www.opensource.org/docs/osd) to all code released to the download location, and not rely on code that is not similarly licensed. Anyone should be able to run the released code without the use of any non-open code. Releasing code that relies on a closed-source library without releasing the underlying library would not satisfy this requirement. Run-time dependencies on closed programs (e.g., Matlab) may be allowed, but open alternatives (e.g., Octave) are strongly preferred.  release code that interacts with the robot within 60 days of receiving a PR2. The code need not do anything sophisticated; the goal is to demonstrate that the robot is working, the group has learned how to use it, and the download location has been established.  demonstrate regular releases of code libraries as outlined in the proposal.  appoint a Safety Officer who will: remain informed of all known safety hazards and mitigations; ensure that known mitigations are implemented at the site; ensure that everyone involved with the PR2 receives safety training; report any safety incidents to Willow Garage in a timely fashion; work with the Willow Garage Safety Board to improve safety.  submit hardware diagnostics logs (either manually or by running a script that will allow automatic transfer of logs on a regular basis). These logs are a key part of the PR2 Beta Program, that will provide critical insight into the PR2’s performance and robustness, and help us improve performance over time.  return broken or defective hardware to Willow Garage for replacement.  participate in a roundtable conference call every two months to share information on the code that has been released, used from other sites, and/or improved. Page 7

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acknowledge Willow Garage when publishing scholarly papers that report on work done with the PR2, and inform Willow Garage after publication of such papers.

Sites are strongly encouraged to:  develop directly in a publicly accessible repository (e.g., SourceForge.net, Google Code).  update the community regularly through blogs, technical reports, mailing lists, and other venues.   

demonstrate use of code published by other groups. participate in occasional technical training updates. share datasets that support community research efforts and replication of experiments.

2.3 Evaluation Willow Garage is interested in proactively assisting Beta sites to ensure success with the platform. Willow Garage staff will be available via email and telephone for technical and administrative matters. We will avoid a formal, written reporting process in favor of a more collaborative, community-based approach. As such, we encourage more informal interactions via the bimonthly phone discussions in order to foster community growth, open dialogue, and collaboration. The roundtable conference call review will allow participants to:   

review open source postings and usage. report on any papers published, or new demos running on the PR2 platform. hear from others about what code is working, how it has worked, and what is planned.

Willow Garage will periodically evaluate the performance of each Beta site. All project evaluations will be conducted by Willow Garage, and will be based in large part on the content of the roundtable conference calls and on the contents of the site's repository. Subject to the terms of the agreement governing the relationship, Willow Garage will reserve the right to reassign any PR2 that Willow Garage deems underused, or whose hosting organization is not making available as open-source the modules outlined in its proposal.

2.4 Technical Support Willow Garage will be available via email and telephone to support PR2 users during the Beta Program. At the start of the program, Willow Garage will hold a technical training workshop, which should be attended by at least one Beta site representative. The PR2 hardware is modular and it is expected that most problems can be fixed by swapping the damaged module. Replacement modules for the PR2 will be supplied, provided that the broken or defective module is returned to Willow Garage, and that the damage is not the result of unreasonable use. We ask that Beta sites discuss with Willow Garage any plans for modifications to the PR2. We would like the opportunity to address safety concerns, and offer guidance to Beta sites before any modifications are made to the robot.

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3 Eligibility Eligible applicants include faculty, staff scientists, researchers, engineers, and graduate students within academic institutions and non-profit or for-profit organizations, worldwide. These research teams must:  be engaged in scientific research that will advance the field of personal robotics and/or be pursuing activities that explore high-impact applications for personal robotics.  have relevant robotics and software development experience.  have sufficient resources to leverage and house the PR2 platform.  be able to release their code under an open source license. Preference will be extended to organizations that:  have a history of open source development and participation in open source communities.  have non-military applications and do not rely on military funding.  have a history of successful experimental robotics work with hardware.  will extend the reach of the PR2 platform and provide greater access to a greater number of researchers and developers by:  using the PR2 in multiple projects; or  bringing multiple organizations within one institution together through cross-organization ties; or  creating ties with external organizations.

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4 Proposal Selection The PR2 Beta Program seeks to deploy PR2 Beta robot platforms to research organizations willing to commit to open source. Approximately ten (10) sites that are judged likely to make the most impact will be selected.

4.1 Proposal Selection Considerations The proposals should demonstrate ambitious and innovative use of the PR2 platforms in planned or currently funded projects. In evaluating the proposals, the evaluation committee will examine the relevance and strength of how the proposals contribute to the fundamental PR2 Beta Program goals. The reviewers will be looking for diverse research and development projects. Proposals will be reviewed and evaluated in their entirety and against all other proposals. Proposals will be evaluated according to three categories: Category

Criteria



Potential for scientific breakthroughs Planned open-source code contributions (includes code developed in pursuit of the scientific breakthrough, tools, previous work posted as open-source, etc.) Potential for advancing applications of personal robots

Experience of the team and organization

   

Robotics and other relevant technical history Open source and software development experience Organizational commitment to open source Biographies of the team

Resources and utilization

   

Funding Facilities Utilization of the PR2 during the lease period Allocation of the PR2 across projects (if more than one)

  Proposed project

Given that it is our goal to understand how personal robots will be used in the future, Willow Garage welcomes the submission of application-oriented proposals that are pursuant to the program goals.

4.2 Selection Committee The evaluation of proposals will be conducted by Willow Garage; independent reviewers may be included. The committee will evaluate all proposed projects against the criteria mentioned above. Willow Garage, in its sole discretion, reserves the right to select all, some, or none of the proposals received in response to this Call for Proposals, and to make awards without providing explanation for these final decisions.

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5 Important Dates Event

Due Date

Call for Proposals published

January 15, 2010

Deadline for intent to respond

February 1, 2010

Deadline for submissions

March 1, 2010

Notification of selection begins

April 2010

Delivery of the PR2 platforms will begin after notification.

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6 Guidelines for Submission Clear, concise prose with supporting tables, diagrams, or illustrations is required for all documentation. Proposals shall be in English-language text, formatted using single-spacing (or larger) with at least 1-inch margins on all sides. Proposals shall use legible, proportional fonts with easy-to-read font size (no less than 10 point). All documents must be submitted in the portable document format (PDF).

6.1 Intent to Respond A letter indicating interest and intent to respond is required by February 1, 2010. This letter should include a brief description of the project and libraries to be included in the proposal. Please see Appendix 1 for a sample letter. The letter should be submitted in PDF on official letterhead to [email protected].

6.2 Research Proposal Submission Requirements Proposals are due no later than March 1, 2010 and only complete proposals will be considered. A complete proposal consists of:  Cover letter  Table of contents  Signed copy of the Beta Program Acceptance Letter: only proposals submitted with a properly signed and unmodified Acceptance Letter will be reviewed (see Appendix 2).  Signed copy of the Open Source Commitment Letter: confirms that the code for all aspects of the proposed project(s) and libraries can and will be made open-source (see Appendix 3). This commitment letter must be signed by a person with the authority required to commit the institution to these actions (e.g., Department Chair or Dean).  Executive Summary: should follow and include the content as indicated in Section 6.2.5, Executive Summary (not to exceed one (1) page).  Project Description: should follow and include the content indicated in Section 6.2.6, Project Description. This section should not exceed six (6) pages including diagrams, images and data. 





Researcher Profiles: applicants must include a brief profile for key personnel on the team as indicated in Section 6.2.7, Researcher Profiles. Key personnel should include principal/lead investigator, graduate student(s), staff researchers, etc. This section should not exceed one (1) page per researcher. Organization Profile: applicant must include a brief site profile, and should follow and include the content indicated in Section 6.2.8, Organization Profile. This profile should be no longer than two (2) pages including diagrams, images and data. Optional: links to videos that support claims made in the proposal.

6.2.1 Cover Letter A cover or transmittal letter is required and can act as a title or cover page. 6.2.2 Table of Contents A table of contents for the proposal is required. Page 12

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6.2.3 Signed Beta Program Acceptance Letter See Appendix 2 for the letter template. 6.2.4 Signed Open Source Commitment Letter See Appendix 3 for the letter template. 6.2.5 Executive Summary Briefly summarize the project(s), the team members, the anticipated contribution to the open source community, and the research facilities (not to exceed one (1) page). 6.2.6 Project Description Organizations may include one or more projects in the proposal. Projects can include one or more planned opensource libraries. Some project summaries may cover current research initiatives and the code libraries coming out of those initiatives, while other projects may simply focus on the development of utility level code libraries needed by the greater community. If you are submitting multiple projects for consideration, please provide separate project descriptions for each. Regardless of how many projects are presented, this section should not exceed six (6) pages total, and each project description should contain the following: A. Project Identification contains the project identification information:  Project title and description  Name of principal/lead investigator  Name of co-principal/lead investigators (if applicable)  Name of university/institution (in the event of multiple organizations, include all names)  Name of department(s)  Principal/lead investigator's email address B. Project Summary. For each project:  Describe enough about the project to demonstrate how it will utilize the PR2 platform.  Describe breakthroughs you hope to achieve, and the impact those breakthroughs will have on other labs, the industry, and the world.  Links to additional project information and videos. C. Funding  Explain what existing and/or expected funding resources will be committed to this project, including start and end dates and funding agency(ies). D. Open Source Community Plans  Describe the code libraries for this project that you will make open-source, and give a brief description of intended functionality.  How often do you plan to update code on the project?  What, if any, closed-source libraries will your code rely on?

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If you plan to make datasets freely available during the course of the project, describe the expected content and target audience.

E. Intellectual Property  Under which OSI license will you release libraries for this project?  What contractual barriers, if any, do you face in making code from this project open-source? 

What IP constraints exist on this project, and who imposes these constraints?

6.2.7 Researcher Profiles Provide a profile for each researcher (principal/lead investigator, graduate student(s), staff researcher(s)) who will be involved in the project(s) presented in this proposal. A template with required information is provided in Appendix 4. Researcher profiles should not exceed one (1) page per researcher. 6.2.8 Organization Profile The Organization Profile should be no longer than two (2) pages, and should contain the following: A. Organization Overview contains the site identification information where the PR2 would be located:  Name of university/institution  Name of department  Physical address and phone number (for PR2 delivery)  Primary administrative contact name and email address B. Facilities and Infrastructure describes your facilities and infrastructure. Include:  What open-source projects does your organization currently support? Please include links.  Where will the PR2 platform be physically located?  What computing resources will be applied to the proposed project(s)? What is their makeup (laptops, workstations, clusters) and operating system?  What types of supporting infrastructures and prototype environments do you have? (e.g., tele-operation setup, motion capture system, kitchen, etc.)  What other robots are available to the project(s) outlined in your proposal?  What is your site’s ability to fix hardware, if required? Modular replacement for field service is anticipated, but PR2 researchers will need to be able to remove and install modular components.  If you have proposed more than one project, what dedicated spaces will be available to people across all projects described in Section 6.2.6, Project Description, and how will PR2 use be coordinated across these projects?

6.3 Information Questions and requests for clarification or additional information should be submitted electronically to [email protected]. Responses will be sent within forty-eight hours by reply email, and posted to the PR2 Beta Program FAQ page (http://www.willowgarage.com/pages/pr2-beta-program/FAQ). Questions posted to the FAQ page will remain anonymous. For occasional mailing list updates regarding the PR2 and the CFP, you can sign up for the Pr2-announce mailing list (http://lists.willowgarage.com/cgi-bin/mailman/listinfo/pr2-announce).

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Please use the official [email protected] email address for questions, and refrain from directly contacting individuals at Willow Garage regarding questions or other information.

6.4 Limitations Proposals shall not include information that authors are not authorized to distribute. Proprietary and confidential information shall not be submitted in the proposal. Classified information may not be submitted as part of the proposal. This CFP does not offer compensation to individuals or organizations preparing a proposal in response to the CFP, nor does it offer funds to any individuals or organizations for participation in a proposal or project.

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Appendix 1: Intent to Respond Sample Letter [Institution Name] [Institution Address 1] [Institution Address 2] [Institution Address 3] Willow Garage 68 Willow Road Menlo Park, CA 94025 [Date] Dear Willow Garage: This letter shall act as confirmation that we intend to respond to the Willow Garage Call for Proposals dated January 15, 2010. [Insert “Title/Name of principal investigator(s)”] [Insert “Institution Name”] [Insert “E-mail address”] We intend to submit a proposal entitled [Insert “Proposal Title”]. [Give a descriptive summary of the projects and libraries intended to be included in the proposal] This letter of intent shall not be binding on the contributing individual(s) or organization(s). The material in this document is subject to change in form and content after further study. The undersigned reserve(s) the right to add, amend or withdraw material contained herein. Sincerely,

[Name & Title]

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Appendix 2: Beta Program Acceptance Letter Advance acceptance of the PR2 Beta Agreement (in the form of this Beta Program Acceptance Letter) by an applicant’s institution is required for each proposal submission. The Beta Program Acceptance Letter also certifies that no proprietary or confidential information is included in submitted proposals. The Beta Program Acceptance Letter template is provided below. The letter must be completed and signed— without further modification—by an authorized official of the institution. Applicants are responsible for obtaining the signature from the appropriate authority in their institution. The signature of the applicant will not be accepted under any circumstances as proof of acceptance by the institution. Once winning proposals are chosen, selected institutions must also sign the actual PR2 Beta Agreement (Appendix 5) before awards can be processed. The completed Beta Program Acceptance Letter is not a substitute for the signed Beta Agreement. [Institution Name] [Institution Address 1] [Institution Address 2] [Institution Address 3] Willow Garage 68 Willow Road Menlo Park, CA 94025 [Date] Attn:

Steve Cousins, President & CEO, Willow Garage

Subject: Confirmation of No Confidential or Proprietary Information; Submission of Research Project Proposal; and Beta Program Acceptance Letter [Insert “Title/Name of principal investigator(s)”], of [Insert “Institution Name”], has completed a proposal titled [Insert “Title of Proposal”] in response to Willow Garage’s 2010 Call for Proposals. [Insert “Institution Name”] hereby: (1) confirms that no confidential information of [Insert “Title/Name of principal investigator(s)”] or [Insert “Institution Name”] has been disclosed in the Research Proposal; (2) submits the Research Proposal to Willow Garage for review and evaluation by Willow Garage; (3) agrees that if Willow Garage selects and provides a System platform for the project specification based upon the proposal(s), the rights and obligations of [Insert "Institution Name"] and Willow Garage with respect to the project(s) shall be governed by the terms of the Beta Agreement documented in Appendix 5 hereto, including but not limited to the Open Source Licensing Obligations terms of Exhibit B thereto, and; (4) declares a commitment to open-source robotics, and designates [Insert “Name/Title of Person Authorized to Act on Behalf of Institution”] to sign the Open Source Commitment Letter (Appendix 3), confirming that [Insert “Institution Name”] agrees to make the libraries outlined in this proposal available to the community as open-source. Page 17

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Sincerely,

[Insert “Institution Name”] [Insert “Name/Title of Person Authorized to Act on Behalf of Institution”] [Insert “E-mail Address”]

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Appendix 3: Open Source Commitment Letter Written commitment from authorities that the code for all aspects of the proposed project can and will be made open-source. [Institution Name] [Institution Address 1] [Institution Address 2] [Institution Address 3] Willow Garage 68 Willow Road Menlo Park, CA 94025 [Date] Attn: Steve Cousins, President & CEO, Willow Garage Subject: Commitment to Open Source Principles Subject to applicable terms of a Beta Agreement, [Insert “Title/Name of principal investigator(s)”] and [Insert “Institution Name”] agree to take the following actions in support of Open Source principles for [Insert “Title of Proposal”]: 





establish a publicly, anonymously accessible download location for code released during the project. Anyone will be able to download the released code without prior permission, contact, password, registration, or other restrictions. apply an OSI approved license (http://www.opensource.org/docs/osd) to all code released to the download location, and not rely on code that is not similarly licensed. Anyone will be able to run the released code, without the use of any non-open code. Releasing code that relies on a closed-source library without releasing the underlying library will not satisfy this requirement. Runtime dependencies on closed programs (e.g., Matlab) will be avoided, if possible. demonstrate regular releases of code libraries as outlined in the proposal.

In addition, we agree to release code that interacts with the robot within 60 days of receiving a PR2 in order to demonstrate that the robot is working and the download location has been established. Sincerely,

[Insert “Institution Name”] [Insert “Name/Title of Person Authorized to Act on Behalf of Institution”] [Insert “Email Address”]

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Appendix 4: Researcher Profile Template Not to exceed one (1) page per researcher. Please find a Researcher Profile sample on the following page. [Insert “Full Name”]

[Insert “Current Title”]

[Insert “Education”]

[Insert “Describe relevant experience.”]

[Insert “What percentage of your time will be dedicated to the projects outlined in the proposal?”] [Insert “What contributions have you made to open-source software? Provide links to evidence such as discussion boards, mailing list discussions, or publicly available open-source code.”]

[Insert “List up to five relevant publications.”]

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Sample Researcher Profile: Name: Brian Gerkey

Title & Affiliation: Director, Open Source Development, Willow Garage

Education: Ph.D. Computer Science (USC) M.S. Computer Science (USC) B.S.E. Computer Engineering (Tulane)

Relevant robotics research & development experience: Dr. Gerkey has worked with robotic systems for over ten years, from low-level controller design to high-level multi-robot coordination. He has extensive experience in the design and construction of integrated sensing and control systems for autonomous robots. Dr. Gerkey demonstrated one of the earliest uses of auction-based techniques to coordinate a team of robots (Gerkey & Mataric 2002). Auction-based multi-robot coordination is now a burgeoning field. He developed a unifying framework, based on techniques from operations research, in which to study task allocation in multi-robot systems (Gerkey & Mataric 2004). Many seemingly different problems are now understood to be variations on a central theme. He developed the first complete algorithm for a pursuit-evasion game in which the pursuer has a limited field-of-view sensor (Gerkey, Thrun, and Gordon 2006). This work solved an open problem in computational sensor planning. Dr. Gerkey designed and implemented a dynamic, predictive controller for a ground robot that safely drives the vehicle at speeds above 1 meter /second through maze-like obstacle courses (Konolige et al., 2009). Percentage time to be spent on the project: 40% Open source contributions: Founding and lead developer on Player, part of the Player Project (Vaughan & Gerkey 2007). Player is a language- and platform-independent robot device interface, which supports a wide variety of robots, peripherals, and algorithms. Stage and Gazebo are sensor-based multiple robot simulators, to which Player is also the interface. Player, Stage, and Gazebo are open-source software, released under the GNU GPL/LGPL, and they enjoy a significant and burgeoning user community. Software from this project has been downloaded over 180,000 times, is actively used in major academic, government, and industrial research labs around the world, and is also used in teaching undergraduate and graduate classes. The software is available from: http://playerstage.sourceforge.net.

Relevant Publications:  Kurt Konolige, Motilal Agrawal, Morten Rufus Blas, Robert C. Bolles, Brian P. Gerkey, Joan Sola', and Aravind Sundaresan. Mapping, Navigation, and Learning for Off-Road Traversal. Journal of Field Robotics 26(1):88–113, Jan 2009.  Richard T. Vaughan and Brian P. Gerkey. Reusable Robot Software and the Player/Stage Project In Davide Brugali, editor, Software Engineering for Experimental Robotics, pages 267–289, Springer Tracts on Advanced Robotics, Springer, 2007.  Brian P. Gerkey, Sebastian Thrun, and Geoff Gordon. Visibility-based pursuit-evasion with limited field of view. Intl. Journal of Robotics Research 25(4):299–316, Apr 2006.  Brian P. Gerkey and Maja J Mataric'. A formal analysis and taxonomy of task allocation in multi-robot systems. Intl. Journal of Robotics Research 23(9):939–954, Sep 2004.  Brian P. Gerkey and Maja J Mataric'. Sold!: Auction methods for multi-robot coordination. IEEE Transactions on Robotics and Automation, 18(5):758–768, Oct 2002.

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Appendix 5: PR2 Beta Agreement If your proposal is successful, this Beta Agreement must be signed by the appropriate authority before a PR2 can be shipped. You do not need to sign this Beta Agreement as part of your proposal submission. You must, however, sign and submit with your proposal the Beta Program Acceptance Letter (Appendix 2).

PR2 BETA AGREEMENT This Agreement (“Agreement”) made on ________________ (“Effective Date”) is by and between _______________, a ___________ headquartered in _______________ (“Institution”), and Willow Garage, Inc., a Delaware corporation (“Willow Garage”). WHEREAS, Institution is engaged in the research and development of robotics and related software; WHEREAS, Willow Garage manufactures and has rights to the intellectual property associated with the PR2 Personal Robotic System (the “System”); and WHEREAS, Institution desires that Willow Garage provide a System for Institution to utilize in accordance with the terms this Agreement, and Willow Garage desires to provide such System on the terms and conditions set forth herein; NOW, THEREFORE, in consideration of the mutual obligations and upon the terms and conditions herein contained, the parties hereto agree as follows: 1. Supply of System. Willow Garage shall provide Institution with one System. At its sole discretion, Willow Garage may provide Institution with additional components or parts related to the System as may be requested by Institution. The System and all such components or parts provided hereunder may be used only by Institution for the Permitted Use (as defined below). 2.

Use of System; Reports; Notification.

A. Willow Garage hereby grants to Institution the right to use and preserve the functional integrity of the System, as defined through the procedures described in further detail in Exhibit A, for the sole purpose of advancing open source robotics research and development (“Permitted Use”). Except as otherwise consented to in writing by Willow Garage, the System shall not be used for any other purpose other than a Permitted Use, or be transferred to any other party. Institution shall conduct all experiments utilizing System in compliance with all applicable laws and regulations. All studies sponsored and/or conducted by Institution which involve the System (“Studies”) shall be conducted in accordance with all applicable laws and regulations. B. During the term of this Agreement, Institution shall employ best efforts to maintain communication with Willow Garage regarding Institution’s use of the System, including by participating in teleconferences, providing briefings regarding Institution’s progress on approved projects, releasing open source code pertinent to the System, and facilitating meetings at Institution’s location, per the reasonable requests of Willow Garage. C. Institution shall immediately give notice to Willow Garage if any Study or System-related activity is suspended, terminated, or completed (for example, if a project is suspended due to a safety concern, Willow Garage shall be notified immediately), and in the event of a suspension or termination, Willow Garage and Institution shall use best efforts to discuss and address the scenario together. 3. Consideration; Title. Willow Garage agrees to loan to Institution one System during the term of this Agreement at no charge. Delivery of the System will be f.o.b. Institution’s premises, at which point all risk of loss or damage shall pass to Institution. All System components received from Willow Garage will be subject to final inspection and acceptance by Institution within 30 days after delivery, and in the case of receipt by Institution of a defective System or components thereof, Institution will have the right to reject such defective System or components and receive replacements, at the sole discretion of Willow Garage. It is obviously the intention of Page 22

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Willow Garage that Institution receives a fully functional System! After delivery by Willow Garage, and until return of the System back to Willow Garage, Institution shall be responsible for all power requirements, transportation, security, insurance, handling and other charges applicable to hosting the System at Institution’s location, unless otherwise approved in writing by Willow Garage. Also, if Willow Garage in its sole discretion agrees to assist Institution with respect to the use of the System in a Study, unless agreed otherwise, Willow Garage shall be responsible for all costs Willow Garage incurs with respect thereto, including all Willow Garage personnel time and expenses incurred to for travel and the like. Unless otherwise agreed in writing, Institution shall pay any applicable sales, use, excise or similar taxes, assessments or charges assessed or levied against this System loan arrangement. During the term of this Agreement, in the event of a System hardware failure perceived by Institution, Institution shall use best efforts to immediately communicate details regarding such perceived failure to Willow Garage, and Willow Garage, at its sole discretion, shall have options to address the scenario, in accordance with the process described in further detail in Exhibit A of this Agreement. Upon termination or expiration of this Agreement, Institution shall make the System available to Willow Garage and Willow Garage will pick-up the System at Institution’s location. TITLE TO THE SYSTEM AND ALL COMPONENTS THEREOF SHALL AT ALL TIMES REMAIN WITH WILLOW GARAGE. Institution agrees that the System shall be used: (i) solely for the Permitted Use; and (ii) within the normal operating capacity of the System, in accordance with documentation and instruction provided by Willow Garage. Institution agrees not to move the System to a new location or make any modifications, alterations or additions to the System hardware without Willow Garage’s prior written consent (writing and installing new software code on the System in furtherance of open source robotics is not only permitted, but is one of the main objectives of this relationship). Institution shall bear all risk of damage to or loss of the System while it is in Institution possession, ordinary wear and tear excepted, as further defined in Exhibit A of this Agreement. In the event of such damage or loss, Institution shall pay to Willow Garage the actual cost to repair or replace the System. 4. No Warranties. INSTITUTION UNDERSTANDS THAT THE SYSTEM AND ANY COMPOSITION AND MATERIALS USED THEREIN ARE EXPERIMENTAL IN NATURE AND WILL BE USED AT INSTITUTION’S OWN RISK. INSTITUTION UNDERSTANDS THAT THE SYSTEM IS PROVIDED BY WILLOW GARAGE TO INSTITUTION “AS IS” WITHOUT WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OR ANY OTHER WARRANTY, EXPRESS OR IMPLIED. WILLOW GARAGE DOES NOT WARRANT OR MAKE ANY REPRESENTATION REGARDING THE USE OF THE SYSTEM IN CONNECTION WITH THE PERMITTED USE. FURTHER, WILLOW GARAGE MAKES NO REPRESENTATION OR WARRANTY THAT THE USE OF THE SYSTEM WILL NOT INFRINGE ANY PATENT RIGHTS OR OTHER PROPRIETARY RIGHT. IN NO EVENT WILL WILLOW GARAGE BE LIABLE FOR ANY LOST PROFITS OR OTHER SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES. 5.

Intellectual Property.

A. Willow Garage Intellectual Property. Software included with the System is licensed to you under terms approved by the Open Source Initiative (“OSI”), including but not limited to versions of the Berkeley Software Distribution (“BSD”) License and the Apache 2.0 License. By utilizing the software provided by Willow Garage under the aforementioned license terms, Institution agrees to the terms of the associated OSI-approved licenses, which are prominently reproduced on the pertinent products, as per the instructions of the OSI (for example, software code is commented with the recommended OSI-approved license language). Other aspects of Willow Garage’s intellectual property pertinent to the System and operation thereof are hereby licensed to Institution nonexclusively, on a royalty-free basis during the term of this Agreement for the sole purpose of working in furtherance of the Permitted Use. B. Institution Intellectual Property. All intellectual property rights pertaining to any software, hardware, methods, data, results, or written reports resulting from Institution’s activity in furtherance of the Permitted Use which are related directly to subject matter covered under the activities detailed in Exhibit B shall be owned by Institution and shall be promptly disclosed, within a period not to exceed ninety days, via a reliable, publiclyavailable, web-accessible depository, and licensed to the public on an open source basis under the terms of an OSI-approved license, such as the BSD License or Apache 2.0 License. Willow Garage and Institution hereby agree that this open source licensing obligation is a material term of this Agreement, and that failure to use best efforts to comply may result in termination of the Agreement and recall of the System, in accordance with Section 12 Page 23

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below. Intellectual property rights of Institution which fall outside of the scope of the subject matter described in Exhibit B shall not be automatically licensed under these terms, although Willow Garage strongly encourages Institution to make as much technology as possible available through open source licensing. 6. Representations. Each party hereby represents and warrants to the other that: (i) the execution and delivery of and performance under this Agreement by such party does not, and will not, conflict with or violate any other agreement or obligations with third parties or any restrictions of any kind or any law to which such party is bound or subject; and (ii) such party has the unrestricted right to disclose any information such party submits to the other party, free of all claims of third parties, and that such disclosures do not breach or conflict with any confidentiality provisions of any agreement to which such party is a party. 7. Confidentiality. The parties generally will try to avoid exchanging information considered confidential, but in the interest of abiding by the cooperation and communication obligations set forth under the terms of this Agreement, such exchanges are likely to take place. For example, in the event that a robotic software invention is documented by Institution and Institution wishes to not only disclose such invention to Willow Garage in a status communication, but also to pursue foreign patent rights that are to be licensed under OSI-approved terms (such as Apache 2.0, for example), Institution may need to disclose such information to Willow Garage under confidentiality terms until a priority patent application can be filed by Institution. “Confidential Information” shall mean all information which is disclosed by or on behalf of the disclosing party to the receiving party and clearly marked as “Confidential” at the time of disclosure, except information which is: (i) at the time of disclosure, or thereafter becomes, a part of the public domain through no act or omission by the receiving party; (ii) lawfully in the possession by the receiving party prior to disclosure by or on behalf of the disclosing party as shown by the receiving party’s written records; or (iii) lawfully disclosed to receiving party by a third party which did not acquire the same under an obligation of confidentiality from or through disclosing party, as shown by receiving party’s written records. If receiving party believes in good faith that receiving party is required by law to disclose any of the disclosing party’s Confidential Information, receiving party shall provide notice to disclosing party, to the greatest extent possible, prior to making such disclosure so as to allow disclosing party time to undertake legal or other action, to prevent such disclosure or otherwise obtain confidential treatment of such disclosure. Receiving party shall not, without the prior consent of disclosing party, disclose any of disclosing party’s Confidential Information to anyone for any reason at any time or use any the disclosing party’s Confidential Information for any purpose except as requested by disclosing party. Receiving party acknowledges that disclosing party’s Confidential Information that is a process, machine, manufacture, or composition of matter is experimental and the disclosure of such information is not intended to be an offer for sale or public use. 8. Use of Names and Trademarks; Disclosure and Representation. This Agreement does not confirm in either party any new rights in the use of names and/or trademarks held by another party. Neither party shall: (i) disclose to the other party any confidential or proprietary information belonging to any third party without the prior consent of such party; or (ii) represent as being unrestricted any designs, plans, models, samples, or other writings or products that either party knows or has reason to know are covered by valid patent, copyright, or other form of intellectual property protection. 9.

[Intentionally left blank].

10. Indemnification. Institution shall indemnify, defend and hold harmless Willow Garage for all expenses and losses (including attorneys’ fees, as well as all costs incurred by the other party in enforcing this indemnification) resulting from Institution’s use of the System or components thereof in any way whatsoever. Institution shall maintain Commercial General Liability insurance in an amount adequate to answer to and satisfy full replacement cost of the System (replacement cost herein agreed to be $500,000) for damage by any source including but not limited to fire, earthquake, flood or water leak, vandalism, theft, misuse or use. Institution agrees to reimburse Willow Garage for damage to the System whether or not the Commercial General Liability policy is found to cover the cause of the damage. Institution further agrees to obtain and maintain Product Liability Insurance for any claims for damages (whether in strict liability, negligence or otherwise) to persons or property allegedly caused by the System or the use of the System by anyone, during the entire term of this agreement in the amount of $10,000,000 per claim $50,000,000 per occurrence with no aggregate annual limit. Institution further agrees to have Willow Garage listed as an additional named insured on its Product Liability Policy and to ensure the effective date of the policy is a date before delivery of the System to Institution. The certificate of insurance showing such coverage and Page 24

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that Willow Garage is an additional named insured must be in the hands of Willow Garage or its attorneys prior to the delivery of the unit. 11. Risk Assessment and Assumption of Risk. It is understood by both parties to this agreement that the System in question is experimental. It is the objective of Willow Garage to ensure the System operates as safely as possible. To that end Willow Garage will provide its best assessment of potential risks from the use of the System to Institution; this assessment shall not be exhaustive and shall in no way be intended to limit the indemnification obligations of this Agreement. Willow Garage will continue to provide to Institution any significant updates to such potential risks when information becomes known or available. Institution will provide to Willow Garage any information it has on safety or safe operations as soon as possible so the risk profile may be as current as possible. Institution hereby acknowledges that a) Institution has examined and understands the risk profile information provided to date, b) the System comprises experimental hardware and software which may be dangerous to program participants or third parties, (c) that Institution shall use best efforts to participate in the Safety Program detailed in Exhibit C attached hereto during the term of this Agreement, and (d) that notwithstanding the understood risk profile information, Institution wishes to expressly assume the risk of entering into this Agreement and receiving a System. 12. Term: Termination. The term of this Agreement shall commence on the Effective Date and terminate on the earlier of: (i) the first anniversary of this Agreement, or (ii) the receipt by Willow Garage of final summary reports of all Studies, unless terminated earlier as follows: A.

30 days after notice, by either party, to terminate the agreement with or without cause of breach;

B. Immediately upon notice if either party ceases to do business or otherwise terminates its business or academic operations; C. Immediately upon notice if either party becomes insolvent or seeks protection under any bankruptcy, receivership, trust deed, creditor arrangement, composition, or comparable proceeding, or if any proceeding is instituted against the other and not dismissed within 90 days; D. Immediately upon notice by either party if one party determines that the System or components thereof does or may negatively impact the safety of any persons or the environment; E. Immediately by Willow Garage upon determination that the System is being misused, in the sole discretion of Willow Garage; or F. Immediately by Willow Garage, upon determination that the Institution is not acting within its open source licensing obligations as described in Exhibit B, in the sole discretion of Willow Garage. Upon termination or expiration of this Agreement, Institution shall immediately cease to use the System and return the System, including all components thereof, to Willow Garage. All obligations which are by their nature continuing, including the obligations contained in Sections 3, 4, 5, 7, 8, 10, 11, and 14 shall survive termination or expiration of this Agreement. 13. Assignment. Neither party shall assign this Agreement or its obligations hereunder, whether voluntarily or involuntarily, without the express consent of the other party, except that the party may assign some or all of its rights and obligations under this Agreement to any affiliate and/or purchaser of all or substantially all of the party’s assets or stock, without the other party’s consent. 14. Miscellaneous. Institution and Willow Garage are independent contracting parties, and neither party has the power to bind the other. This Agreement: (i) is governed by the laws of the State of California, without reference to its principles of conflicts of laws; (ii) is the entire and exclusive set of terms and conditions for transactions made with respect to the System; (iii) supersedes conflicting terms of other documents issued under it; and (iv) may only be modified by a writing signed by both parties. No failure or delay to enforce a provision shall be deemed a waiver thereof. All requests, approvals, consents and notice must be in writing and will be effective as of the date sent and, unless otherwise specified in this Agreement, shall be sent as follows: (a) certified mail – return receipt requested; (b) a nationally recognized overnight delivery service that guarantees overnight delivery and requires the signature of recipient (“Overnight Delivery”); or (c) electronic mail (“Email”), transmission confirmed; addressed as follows: Page 25

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From: [Institution]

To: Willow Garage, Inc.

[Institution address]

68 Willow Road

Attn: [Notice Contact at Institution]

Menlo Park, CA 94025

Fax: [Institution fax]

Attn: Steve Cousins, CEO

Tel: [Institution tel]

Tel: 650-475-2810

Email: [Institution Contact E-mail]

E-mail: [email protected] With a copy to: Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 Attn: Celia Chow Tel: 650-475-2700 E-mail: [email protected]

ACCEPTED AND AGREED:

[INSTITUTION]

WILLOW GARAGE, INC.

By: ______________________________

By: ___________________________

Print Name:

Print Name: Steve Cousins

Title:

Title: Chief Executive Officer

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EXHIBIT A – HARDWARE MANAGEMENT PARADIGM 1.

Should the System hardware fail in any way, Institution agrees to contact Willow Garage immediately, and to await a response from Willow Garage before proceeding with any interventions to fix the problem.

2.

Upon receiving an inquiry from Institution regarding a System hardware problem, Willow Garage will use commercially reasonable efforts to work with Institution to develop a plan to mitigate or fix the problem.

3.

When the plan has been completed and communicated, both parties agree to cooperate in good faith to execute upon the plan.

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EXHIBIT B – OPEN SOURCE LICENSING OBLIGATIONS In its response to the Willow Garage Call for Proposals, Institution proposes certain intellectual property and/or software deliverables which are to be released under OSI-approved open-source license terms utilizing a publicly accessible online source. Subsequent to further refinement of the details of this commitment, in documentation mutually agreeable to both parties, the pertinent obligations shall become material terms of this Agreement, violations of which shall be grounds for immediate termination and return of the System under Section 12 of this Agreement.

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EXHIBIT C – SAFETY PROGRAM The Willow Garage Safety Board Willow Garage has organized a Safety Board chartered with identifying hazards related to Willow Garage products and ensuring that appropriate actions are taken to mitigate those hazards. The Safety Board maintains a database to keep track of the hazards and mitigation actions. To identify additional hazards for the database, the Board commissions Hazard Brainstorming Meetings and reviews incident reports from the field. To initiate actions that reduce the severity and/or likelihood of specific hazards, the Safety Board commissions Hazard Response Projects. To ensure that appropriate actions remain in force, the Safety Board commissions Hazard Response Audits. The Safety Board works with Safety Officers in external organizations to improve safety across all users of Willow Garage products. The core Safety Board includes senior members of the Willow Garage management. Additional employees serve for term appointments. Members of the Board spend at least one day a month on safety related work. The Hazard Database The Safety Board maintains a Hazard Database including three types of safety-related categorizations: Hazards, Incidents, and Responses. Hazards describe things the System could possibly do that can cause damage, such as physically running into something, or falling down stairs. Each Hazard includes an estimate of its severity and likelihood of occurrence. Based on these estimates, the Hazard is assigned a priority for action. Incidents describe specific examples of Hazards, either things that have actually occurred or hypothetical occurrences. Each Incident is associated in the database with the Hazard(s) that it exemplifies. Responses describe actions that reduce the severity and/or likelihood of a hazard. These can involve changes to the design or documentation of the hardware and software, additional warnings to the community, or changes to the safety training and video. The information in the Hazard Database is summarized in several reports that document the current understanding of potential hazards and the associated mitigating actions. Chief among these is the Prioritized Hazard Report, which lists the Hazards in the database in order of their priority. Willow Garage shall provide Institution with access to both the Hazard Database and the Prioritized Hazard Report.

Safety Officers Each Institution shall be obligated to appoint a Safety Officer who shall be responsible for all aspects of safety in relation to the use of the System. The Safety Officer shall: 

remain informed of all known safety hazards and mitigations,



ensure that all known mitigations are implemented in their organization,



ensure that everyone involved with the products receives safety training,



promptly report any safety incidents to Willow Garage, and



work with the Willow Garage Safety Board to improve safety of the System.

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