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, selfreconfigurable
robots, we are currently developing a functional, domain-specific
language that allows the programmer to use pattern matching and higher-order
functions to program closely coordinated groups of modules. In more detail,
higher-order functions are used to specify behaviors that are applied to groups of
modules and a distributed pattern matching mechanism is used to select specific
behaviors from these functions depending on the state of the individual modules.
We have implemented our language for a virtual machine running on the ATRON
self-reconfigurable robot.
Original language | English |
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Title of host publication | Trends in Functional Programming |
Editors | Marco Morazán, Pieter Koopman, Peter Achten |
Volume | 9 |
Publisher | Intellect |
Publication date | 2008 |
Pages | 1-13 |
ISBN (Print) | 9781841502779 |
Publication status | Published - 2008 |
Externally published | Yes |
Event | 9th Symposium on Trends in Functional Programming 2008 - Nijmegen, Netherlands Duration: 26 May 2008 → 28 May 2008 Conference number: 9 |
Conference
Conference | 9th Symposium on Trends in Functional Programming 2008 |
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Number | 9 |
Country/Territory | Netherlands |
City | Nijmegen |
Period | 26/05/2008 → 28/05/2008 |
Series | Trends in Functional Programming |
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