Declarative Programming for Modular Robots
Workshop Paper, IROS '07 Workshop on Self-Reconfigurable Robots & Systems and Applications, October, 2007
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.
BibTeX
@workshop{Ashley-Rollman-2007-9864,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 = {Proceedings of IROS '07 Workshop on Self-Reconfigurable Robots & Systems and Applications},
year = {2007},
month = {October},
publisher = {IEEE},
keywords = {modular robots, distributed algorithms, declarative programming},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.