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A task-level robot programming language and its reactive execution

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3 Author(s)
E. Coste-Mainere ; Ecole des Mines de Paris Sophia-Antipolis, Valbonne, France ; B. Espiau ; E. Rutten

A robotic application is defined by a set of scheduled actions, each action being modeled as a robot-task with functional and behavioral aspects. The authors propose a programming approach located at an intermediary level between objective and object levels, called the task-level. The basic feature consists of using a synchronous language (Esterel) as the target language of an application programming language that is able to express in a natural way the logical and temporal dependencies of the actions. The synchrony assumption induces the need for the design of a synchronous/asynchronous interface to be associated with the computer system. This aspect is considered. The proposed language is presented, and an example of a robotic application is given

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992