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Abstract
We have applied methodologies developed for domain-specific embedded
languages to create a high-level robot control language called
Frob, for Functional Robotics. Frob supports a programming
style that cleanly separates the what from the how of
a robotic control program. That is, the what is a simple, easily
understood definition of the control strategy using groups of equations
and primitives which combine sets of these control system equations
into a complex system. The how aspect of the program addresses
the unpleasant details, such as the method used to realize these equations,
the connection between the control equations and the sensors and effectors
in the robot, and communication with other elements of the system. Frob
is a system that supports rapid prototyping of new control strategies,
enables software reuse through composition, and defines a system in
a way that can be formally reasoned about and transformed.
@InProceedings(phh99,
author = "John Peterson and Greg Hager and Paul Hudak",
title = "A Language for Declarative Robotic Programming",
booktitle = "International Conference on Robotics and Automation",
year = 1999
)
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