Abstract
Software for (semi-) autonomous robots tends to be a complex combination of components from many different application domains such as control theory, vision, and artificial intelligence. Components are often developed using their own domain-specific tools and abstractions. System integration can thus be a significant challenge, in particular when the application calls for a dynamic, adaptable system structure in which rigid boundaries between the subsystems are a performance impediment. We believe that, by identifying suitably abstract notions common to the different domains in question, it is possible to create a broader frame-work for software integration and to recast existing domain-specific frameworks in these terms. This approach simplifies integration and leads to improved reliability. In this paper, we show how Functional Reactive Programming (FRP) can serve as such a unifying framework for programming vision-guided, semi-autonomous robots and illustrate the benefits this approach entails. The key abstractions in FRP, reactive components describing continuous or discrete behavior in a declarative style, are first class entities, allowing the resulting systems to exhibit a dynamic, adaptable structure which we regard as especially important in the area of autonomous robots.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02) |
| Pages | 168-179 |
| Number of pages | 12 |
| State | Published - 2002 |
| Event | Proceedings of the Fourth ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02) - Pittsburg, PA, United States Duration: Oct 6 2002 → Oct 8 2002 |
Other
| Other | Proceedings of the Fourth ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02) |
|---|---|
| Country | United States |
| City | Pittsburg, PA |
| Period | 10/6/02 → 10/8/02 |
Fingerprint
Keywords
- Domain-Specific Languages
- Functional Programming
- Robotics
- Vision
ASJC Scopus subject areas
- Engineering(all)
Cite this
System presentation - Functional reactive robotics : An exercise in principled integration of domain-specific languages. / Pembeci, Izzet; Nilsson, Henrik; Hager, Gregory.
Proceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02). 2002. p. 168-179.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - System presentation - Functional reactive robotics
T2 - An exercise in principled integration of domain-specific languages
AU - Pembeci, Izzet
AU - Nilsson, Henrik
AU - Hager, Gregory
PY - 2002
Y1 - 2002
N2 - Software for (semi-) autonomous robots tends to be a complex combination of components from many different application domains such as control theory, vision, and artificial intelligence. Components are often developed using their own domain-specific tools and abstractions. System integration can thus be a significant challenge, in particular when the application calls for a dynamic, adaptable system structure in which rigid boundaries between the subsystems are a performance impediment. We believe that, by identifying suitably abstract notions common to the different domains in question, it is possible to create a broader frame-work for software integration and to recast existing domain-specific frameworks in these terms. This approach simplifies integration and leads to improved reliability. In this paper, we show how Functional Reactive Programming (FRP) can serve as such a unifying framework for programming vision-guided, semi-autonomous robots and illustrate the benefits this approach entails. The key abstractions in FRP, reactive components describing continuous or discrete behavior in a declarative style, are first class entities, allowing the resulting systems to exhibit a dynamic, adaptable structure which we regard as especially important in the area of autonomous robots.
AB - Software for (semi-) autonomous robots tends to be a complex combination of components from many different application domains such as control theory, vision, and artificial intelligence. Components are often developed using their own domain-specific tools and abstractions. System integration can thus be a significant challenge, in particular when the application calls for a dynamic, adaptable system structure in which rigid boundaries between the subsystems are a performance impediment. We believe that, by identifying suitably abstract notions common to the different domains in question, it is possible to create a broader frame-work for software integration and to recast existing domain-specific frameworks in these terms. This approach simplifies integration and leads to improved reliability. In this paper, we show how Functional Reactive Programming (FRP) can serve as such a unifying framework for programming vision-guided, semi-autonomous robots and illustrate the benefits this approach entails. The key abstractions in FRP, reactive components describing continuous or discrete behavior in a declarative style, are first class entities, allowing the resulting systems to exhibit a dynamic, adaptable structure which we regard as especially important in the area of autonomous robots.
KW - Domain-Specific Languages
KW - Functional Programming
KW - Robotics
KW - Vision
UR - http://www.scopus.com/inward/record.url?scp=0036989098&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036989098&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0036989098
SN - 1581135289
SP - 168
EP - 179
BT - Proceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02)
ER -