Roles and self-reconfigurable robots

Nicolai Dvinge, Ulrik Pagh Schultz, David Johan Christensen

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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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 associate roles and behavior to structural elements in a modular robot. Based on the role declarations, a dedicated middleware for high-level distributed communication is generated, significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.
Original languageEnglish
Title of host publicationProceedings of the 2nd Workshop on Roles and Relationships in Object Oriented Programming, Multiagent Systems, and Ontologies
Publication date2007
Pages17-27
Publication statusPublished - 2007
Externally publishedYes
EventThe 2nd Workshop on Roles and Relationships in Object Oriented Programming, Multiagent Systems, and Ontologies - Berlin, Germany
Duration: 1 Jan 2007 → …

Conference

ConferenceThe 2nd Workshop on Roles and Relationships in Object Oriented Programming, Multiagent Systems, and Ontologies
CityBerlin, Germany
Period01/01/2007 → …

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