Monadic robotics

John Peterson, Greg Hager

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

Abstract

We have developed a domain specific language for the construction of robot controllers, Frob (Functional ROBotics). The semantic basis for Frob is Functional Reactive Programming, or simply FRP, a purely functional model of continuous time, interactive systems. FRP is built around two basic abstractions: behaviors, values defined continuously in time, and events, discrete occurances in time. On this foundation, we have constructed abstractions specific to the domain of robotics. Frob adds yet another abstraction: the task, a basic unit of work defined by a continuous behavior and a terminating event. This paper examines two interrelated aspects of Frob. First, we study the design of systems based on FRP and how abstractions defined using FRP can capture essential domain-specific concepts for systems involving interaction over time. Second, we demonstrate an application of monads, used here to implement Frob tasks. By placing our task abstraction in a monadic framework, we are able to organize task semantics in a modular way, allowing new capabilities to be added without pervasive changes to the system. We present several robot control algorithms specified using Frob. These programs are clear, succinct, and modular, demonstrating the power of our approach.

Original languageEnglish (US)
Title of host publicationProceedings of the 2nd Conference on Domain-Specific Languages, DSL 1999
PublisherAssociation for Computing Machinery, Inc
Pages95-108
Number of pages14
ISBN (Electronic)1581132557, 9781581132557
DOIs
StatePublished - Dec 31 1999
Event2nd Conference on Domain-Specific Languages, DSL 1999 - Austin, United States
Duration: Oct 3 1999Oct 6 1999

Publication series

NameProceedings of the 2nd Conference on Domain-Specific Languages, DSL 1999

Other

Other2nd Conference on Domain-Specific Languages, DSL 1999
CountryUnited States
CityAustin
Period10/3/9910/6/99

ASJC Scopus subject areas

  • Software

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  • Cite this

    Peterson, J., & Hager, G. (1999). Monadic robotics. In Proceedings of the 2nd Conference on Domain-Specific Languages, DSL 1999 (pp. 95-108). (Proceedings of the 2nd Conference on Domain-Specific Languages, DSL 1999). Association for Computing Machinery, Inc. https://doi.org/10.1145/331960.331976