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 +====== CRAM: Cognitive Robot Abstract Machine ======
 +
 +CRAM is a toolbox for designing, implementing and deploying
 +software on autonomous robots. The framework provides various
 +tools and libraries for aiding in robot software development as
 +well as geometric reasoning and fast simulation mechanisms to
 +develop cognition-enabled control programs that achieve high levels of robot autonomy. CRAM also provides tools
 +for introspection that enable the robots to reason about their past
 +executions and improve by autonomously optimizing their plans.
 +
 +The core packages of CRAM are implemented in Common Lisp (with a little bit of C/C++) with support to the ROS middleware infrastructure.
 +
 +===== CRAM Applications =====
 +
 +=== Household application ===
 +
 +<html><div style="text-align: center"><iframe width="560" height="315" src="https://www.youtube.com/embed/pv_n9FQRoZQ" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe></div></html>
 +
 +<html><div align="center">
 +  <video width="560" height="315" controls>
 +    <source src="http://cram-system.org/_media/blog/tiago.mp4" type="video/mp4">
 +  </video>
 +</div></html>
 +
 +<html>
 +  <p align="center">
 +    <iframe width="560" height="315" src="https://www.youtube.com/embed/HzFpO0VVJ1E" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen>
 +    </iframe>
 +  </p>
 +</html>
 +
 +=== Retail application ===
 +
 +<html><div align="center">
 +  <video width="560" height="315" controls>
 +    <source src="http://cram-system.org/_media/d3.3.mp4" type="video/mp4">
 +  </video>
 +</div></html>
 +
 +=== Outdoor rescue application ===
 +
 +<html>
 +  <p align="center">
 +    <iframe width="560" height="315" src="https://www.youtube.com/embed/ghBAEEbPiXs" frameborder="0" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen>
 +    </iframe>
 +  </p>
 +</html>
 +
 +===  ===
 +
 +===== Acknowledgements =====
 +
 +This project received funding from several funding agencies in different research projects. We would like to acknowledge the support from
 +
 +  * BMWK project [[https://knowledge4retail.org/|Knowledge4Retail]] (Innovation competition “Artificial Intelligence”)
 +  * EU H2020 project [[http://www.refills-project.eu|REFILLS]] (grant agreement #731590).
 +  * DFG Project PIPE (project number 322037152)
 +  * DFG Collaborative Research Centre [[http://www.ease-crc.org|EASE -- Everyday Activity Science and Engineering]] (CRC #1320)
 +  * EU FP7 project SHERPA (grant agreement #600958)
 +  * EU FP7 project RoboHow (grant agreement #288533)
 +  * EU FP7 project Saphari (grant agreement #287513)
 +  * EU FP7 project RoboEarth (grant agreement #248942)
 +  * DFG Excellence Initiative research cluster CoTeSys -- Cognition for Technical Systems
 +  * Willow Garage as part of the PR2 Beta Program
 +
 +
 +===== Publications =====
 +
 +Please see the relevant publications [[publications|here]].