Towards interactive programming of modular robots

Mirko Bordignon, Kasper Stoy, David Johan Christensen, Ulrik Pagh Schultz

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Abstract

Programming modular robots is typically a difficult and time-consuming task. In this position paper we describe our vision for a programming platform supporting interactive and incremental development of autonomous controllers for the ATRON and Odin modular robots. Currently, the platform consists of execution environments for the respective robots, a simulator, and a user-interface that allows for straightforward remote control using simple gait control tables. We envision interactive programming of distributed controllers being done by incrementally transitioning from simple remote control of a specific robot configuration to autonomous control of a whole class of similar robot configurations. This incremental transition relies on three key elements: (1) using symbolic names to globally identify what components (modules, specific sensors, actuators, etc.) to control, (2) describing behaviors using a distributed scripting language, and (3) dynamically updating code in the running system. We conclude that in this way we may possibly ease the task of programming modular robots by combining the highly interactive development style of the on-line approach with the expressiveness and ease of use of a scripting language.
Original languageEnglish
Title of host publicationProceedings of the IROS Workshop on Self-Reconfigurable Robots, Systems and Applications
Publication date2008
Publication statusPublished - 2008
Externally publishedYes
EventIROS 2008 Workshop on Self-Reconfigurable Robots/Systems and Applications. - Nice, France
Duration: 1 Jan 2008 → …

Conference

ConferenceIROS 2008 Workshop on Self-Reconfigurable Robots/Systems and Applications.
CityNice, France
Period01/01/2008 → …

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