A Domain-Specific Language for Programming Self-Reconfigurable Robots: APGES 2007 - Automatic Program Generation for Embedded Systems - Workshop Proceedings

Ulrik Pagh Schultz, David Johan Christensen, Kasper Støy

    Publikation: AndetAndet bidragForskning

    Abstract

    A self-reconfigurable robot is a robotic device that can change its own shape.
    Self-reconfigurable robots are commonly built from multiple identical modules that can
    manipulate each other to change the shape of the robot. The robot can also perform tasks
    such as locomotion without changing shape. Programming a modular, self-reconfigurable
    robot is however a complicated task: the robot is essentially a real-time, distributed
    embedded system, where control and communication paths often are tightly coupled to the
    current physical configuration of the robot. To facilitate the task of programming
    modular, self-reconfigurable robots, we have developed a declarative, role-based
    language that allows the programmer to define roles and behavior independently of the
    concrete physical structure of the robot. Roles are compiled to mobile code fragments
    that distribute themselves over the physical structure of the robot using a dedicated
    virtual machine implemented on the ATRON self-reconfigurable robot.


    OriginalsprogUdefineret/Ukendt
    Publikationsdato2007
    Antal sider9
    StatusUdgivet - 2007

    Emneord

    • self-reconfigurable robot
    • domain-specific language

    Citationsformater