Date of Original Version

5-2008

Type

Conference Proceeding

Abstract or Description

We present a high-level language for programming modular robotic systems, based on locally distributed predicates (LDP), which are distributed conditions that hold for a connected subensemble of the robotic system. An LDP program is a collection of LDPs with associated actions which are triggered on any subensemble that matches the predicate. The result is a reactive programming language which efficiently and concisely supports ensemble-level programming. We demonstrate the utility of LDP by implementing three common, but diverse, modular robotic tasks.

DOI

10.1109/ROBOT.2008.4543691

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Published In

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on , 3156-3162.