Declarative Programming for Modular Robots

Michael Ashley-Rollman, Michael DeRosa, Siddhartha Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason Campbell
IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications, December, 2007


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Abstract
Because of the timing, complexity, and asynchronicity challenges common in modular robot software we have recently begun to explore new programming models for modular robot ensembles. In this paper we apply two of those models to a metamodule-based shape planning algorithm and comment on the differences between the two approaches. Our results suggest that declarative programming can provide several advantages over more traditional imperative approaches, and that the differences between declarative programming styles can themselves contribute leverage to different parts of the problem domain.

Keywords
modular robots, distributed algorithms, declarative programming

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Number of pages: 6

Text Reference
Michael Ashley-Rollman, Michael DeRosa, Siddhartha Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason Campbell, "Declarative Programming for Modular Robots," IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications, December, 2007

BibTeX Reference
@incollection{Srinivasa_2007_5870,
   author = "Michael Ashley-Rollman and Michael DeRosa and Siddhartha Srinivasa and Padmanabhan Pillai and Seth Copen Goldstein and Jason Campbell",
   title = "Declarative Programming for Modular Robots",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications",
   publisher = "IEEE",
   month = "December",
   year = "2007",
}