A domain-specific language for programming self-reconfigurable robots

Ulrik Pagh Schultz, David Johan Christensen, Kasper Støy

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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.
Original languageEnglish
Title of host publicationWorkshop on Automatic Program Generation for Embedded Systems
Publication date2007
Pages28-36
Publication statusPublished - 2007
Externally publishedYes
EventWorkshop on Automatic Program Generation for Embedded Systems - Salzburg, Austria
Duration: 4 Oct 20074 Oct 2007

Workshop

WorkshopWorkshop on Automatic Program Generation for Embedded Systems
CountryAustria
CitySalzburg
Period04/10/200704/10/2007

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