Abstract-We present a high-level language for programming modular robotic systems, based on locally distributed predicates (LDP), which are distributed conditions that hold for a connected subensemble of the robotic system. An LDP program is a collection of LDPs with associated actions which are triggered on any subensemble that matches the predicate. The result is a reactive programming language which efficiently and concisely supports ensemble-level programming. We demonstrate the utility of LDP by implementing three common, but diverse, modular robotic tasks.
Locally distributed predicates REF are distributed conditions that hold for a connected ensemble of the robotic system.
Programming modular robots with locally distributed predicates
2008 IEEE International Conference on Robotics and Automation
2008 IEEE International Conference on Robotics and Automation
Computer Science