ICRA 2012 Paper Abstract


Paper TuD110.5

Tousignant, Steve (University of Minnesota), Van Wyk, Eric (University of Minnesota), Gini, Maria (University of Minnesota)

XRobots: A Flexible Language for Programming Mobile Robots Based on Hierarchical State Machines

Scheduled for presentation during the Interactive Session "Interactive Session TuD-1" (TuD110), Tuesday, May 15, 2012, 16:30−17:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Robotic Software, Middleware and Programming Environments, Behavior-Based Systems


This paper introduces a domain-specific language for programming mobile robots that is based on hierarchical state machines. Following Brooks, we refer to states as behaviors. A novelty of this language is that behaviors are treated as first class objects in the language and thus they can be passed as arguments to other parameterized behaviors. The language has template behaviors which allow a generalized behaviors to be customized and instantiated. This makes the language quite flexible in terms of programming styles. A few examples of its flexibility are presented, followed by a description of the challenges in the language design.



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