Towards interactive programming of modular robots

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.