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Carnegie Mellon Robotics Institute

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Abstract

In this paper, we present a method for high-level control of robots whose low-level software is based on dynamically reconfigurable, reusable real-time software modules. Our approach is to use an embedded interpreter for a general-purpose programming language to direct the operation of the low-level modules toward meeting the task-level goals of the robot. To this end, we present RSK, a virtual-machine kernel implementing a Scheme interpreter capable of hard real-time operation, and employing a method of code execution we call "message-based evaluation" (MBE). MBE is a novel combination of a traditional code execution model and a message-passing architecture, which simplifies the process of writing code for managing the robot's reconfigurable subsystem.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Christopher Lee and Yangsheng Xu, "Message-based evaluation for high-level robot control," 1998 IEEE International Conference on Robotics and Automation, May, 1998.

BibTeX Reference

@inproceedings{Lee_1998_1022,
   author = "Christopher Lee and Yangsheng Xu",
   title = "Message-based evaluation for high-level robot control",
   booktitle = "1998 IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "1998",
   volume = "1",
   number = "844-849",
}

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