A Multitasking System for Robotics

In this paper, we describe two aspects of a research project in robotics. We propose a high-level task-oriented robot programming language which allows for a dynamically adjustable plan of action to be expressed for the accomplishment of the robot's goal. However, because of the high run-time dynamics created by this language's implementation, a multi-tasking architecture was created in conjunction with the language. The utility of the proposed architecture for the run-time support of intelligent robot control is also presented in this paper.