Composable robot controllers

John Peterson, Greg Hager, Andrei Serjentov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationProceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationIntegrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
EditorsPeter Xiaoping Liu, Hong Zhang
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages149-154
Number of pages6
ISBN (Electronic)0780372034
DOIs
StatePublished - Jan 1 2001
EventIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada
Duration: Jul 29 2001Aug 1 2001

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume2001-January

Other

OtherIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
CountryCanada
CityBanff
Period7/29/018/1/01

ASJC Scopus subject areas

  • Computational Mathematics

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  • 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). [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