Language for declarative robotic programming

John Peterson, Gregory D. Hager, Paul Hudak

Research output: Contribution to journalConference articlepeer-review

Abstract

We have applied methodologies developed for domain-specific embedded languages to create a high-level robot control language called Frob, for Functional Robotics. Frob supports a programming style that cleanly separates the what from the how of a robotic control program. That is, the what is a simple, easily understood definition of the control strategy using groups of equations and primitives which combine sets of these control system equations into a complex system. The how aspect of the program addresses the unpleasant details, such as the method used to realize these equations, the connection between the control equations and the sensors and effectors in the robot, and communication with other elements of the system. Frob is a system that supports rapid prototyping of new control strategies, enables software reuse through composition, and defines a system in a way that can be formally reasoned about and transformed.

Original languageEnglish (US)
Pages (from-to)1144-1151
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Jan 1 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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