Composable robot controllers

John Peterson; Greg Hager; Andrei Serjentov

doi:10.1109/CIRA.2001.1013188

Composable robot controllers

John Peterson, Greg Hager, Andrei Serjentov

Whiting School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

Software for controlling robots is often difficult to develop and maintain. Specialized robot programming languages make this task more manageable. These languages may be either created from scratch or incorporated within an existing language. In this paper, we demonstrate the latter technique: an embedded domainspecific language called Frob (for Functional Robotics) built within Haskell, a purely functional programming language. We use basic techniques of programming, transformation and composition, to create high-level controllers that are concise, understandable, and easily modifiable. Frob is constructed using Functional Reactive Programming (FRP), a system that describes interactive computations using functions. In this paper, we demonstrate the use of Frob in the context of the Robocup robotic soccer competition. We develop a set of control systems for Robocup and show how these systems can be composed into complex soccer strategies.

Original language	English (US)
Title of host publication	Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publication	Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
Editors	Peter Xiaoping Liu, Hong Zhang
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	149-154
Number of pages	6
ISBN (Electronic)	0780372034
DOIs	https://doi.org/10.1109/CIRA.2001.1013188
State	Published - 2001
Event	IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada Duration: Jul 29 2001 → Aug 1 2001

Publication series

Name	Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume	2001-January

Other

Other	IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
Country/Territory	Canada
City	Banff
Period	7/29/01 → 8/1/01

ASJC Scopus subject areas

Computational Mathematics

Access to Document

10.1109/CIRA.2001.1013188

Cite this

Peterson, J., Hager, G., & Serjentov, A. (2001). Composable robot controllers. In P. X. Liu, & H. Zhang (Eds.), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001 (pp. 149-154). Article 1013188 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2001.1013188

Composable robot controllers. / Peterson, John; Hager, Greg; Serjentov, Andrei.
Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. ed. / Peter Xiaoping Liu; Hong Zhang. Institute of Electrical and Electronics Engineers Inc., 2001. p. 149-154 1013188 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Peterson, J, Hager, G & Serjentov, A 2001, Composable robot controllers. in PX Liu & H Zhang (eds), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001., 1013188, Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, vol. 2001-January, Institute of Electrical and Electronics Engineers Inc., pp. 149-154, IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, Banff, Canada, 7/29/01. https://doi.org/10.1109/CIRA.2001.1013188

Peterson J, Hager G, Serjentov A. Composable robot controllers. In Liu PX, Zhang H, editors, Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. Institute of Electrical and Electronics Engineers Inc. 2001. p. 149-154. 1013188. (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA). doi: 10.1109/CIRA.2001.1013188

Peterson, John ; Hager, Greg ; Serjentov, Andrei. / Composable robot controllers. Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. editor / Peter Xiaoping Liu ; Hong Zhang. Institute of Electrical and Electronics Engineers Inc., 2001. pp. 149-154 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA).

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Composable robot controllers

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