Software support for high-level specification, execution and estimation of event-driven, constraint-based multi-sensor robot tasks

This paper proposes a robot control programming system for the specification, execution and estimation of multi-sensor, multi-robot, constraint-based robot applications. A multi-layered set of specification primitives is supported at, respectively, constraint, skill, and task level. These layers provide appropriate abstractions for both application builders and application users. The implementation challenges of the presented approach are discussed. A few examples of real experiments are given that use the proposed specification approach to various degrees.