System presentation - Functional reactive robotics: An exercise in principled integration of domain-specific languages

Izzet Pembeci, Henrik Nilsson, Gregory Hager

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

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 languageEnglish (US)
Title of host publicationProceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02)
Pages168-179
Number of pages12
StatePublished - 2002
EventProceedings of the Fourth ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02) - Pittsburg, PA, United States
Duration: Oct 6 2002Oct 8 2002

Other

OtherProceedings of the Fourth ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02)
CountryUnited States
CityPittsburg, PA
Period10/6/0210/8/02

Fingerprint

Robotics
Robots
Control theory
Artificial intelligence
Dynamical systems

Keywords

  • Domain-Specific Languages
  • Functional Programming
  • Robotics
  • Vision

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Pembeci, I., Nilsson, H., & Hager, G. (2002). System presentation - Functional reactive robotics: An exercise in principled integration of domain-specific languages. In Proceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02) (pp. 168-179)

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 proceedingConference contribution

Pembeci, I, Nilsson, H & Hager, G 2002, System presentation - Functional reactive robotics: An exercise in principled integration of domain-specific languages. in Proceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02). pp. 168-179, Proceedings of the Fourth ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02), Pittsburg, PA, United States, 10/6/02.
Pembeci I, Nilsson H, Hager G. System presentation - Functional reactive robotics: An exercise in principled integration of domain-specific languages. In Proceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02). 2002. p. 168-179
Pembeci, Izzet ; Nilsson, Henrik ; Hager, Gregory. / System presentation - Functional reactive robotics : An exercise in principled integration of domain-specific languages. Proceedings of the ACM SIGPLAN Conference on Principles and Practice of Declarative Programming (PPDP'02). 2002. pp. 168-179
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