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Functional reactive robotics: an exercise in principled integration of domain-specific languages

Functional reactive robotics: an exercise in principled integration of domain-specific languages,10.1145/571157.571174,Izzet Pembeci,Henrik Nilsson,Gr

Functional reactive robotics: an exercise in principled integration of domain-specific languages   (Citations: 15)
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Software for (semi-) autonomous robots tends to be a complex combination of components from many different application domains such as control theory, vision, and artificial intelligence. Components are often developed using their own domain-specific tools and abstractions. System integration can thus be a significant challenge, in particular when the application calls for a dynamic, adaptable system structure in which rigid boundaries between the subsystems are a performance impediment. We believe that, by identifying suitably abstract notions common to the different domains in question, it is possible to create a broader framework for software integration and to recast existing domain-specific frameworks in these terms. This approach simplifies integration and leads to improved reliability. In this paper, we show how Functional Reactive Programming (FRP) can serve as such a unifying framework for programming vision-guided, semi-autonomous robots and illustrate the benefits this approach entails. The key abstractions in FRP, reactive components describing continuous or discrete behavior in a declarative style, are first class entities, allowing the resulting systems to exhibit a dynamic, adaptable structure which we regard as especially important in the area of autonomous robots.
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    • ...Functional Reactive Programming languages have been customised to robotics [13], [14] and are a powerful method of programming with good support for reactivity...

    Geoffrey Biggset al. Specifying Robot Reactivity in Procedural Languages

    • ...Yampa has been used to program real industrial-strength mobile robots [10, 8]2, building on earlier experience with FRP and Frob [11, 12]...

    Paul Hudaket al. Arrows, Robots, and Functional Reactive Programming

    • ...AFRP is intended to be a robust and expressive implementation of FRP, capable of describing reactive systems with a highly dynamic structure, such as graphical user interfaces or vision-based robot control systems [19], while retaining the fundamental advantages of the synchronous programming paradigm...

    Henrik Nilssonet al. Functional reactive programming, continued

    • ...The infrastructure should bring together robotic systems developed in dierent domains, enabling common tools, interoperability and reuse [27]...
    • ...3.1.9 Sound foundations Well‐founded robot languages provide the possibility of verifying accuracy, safety and other characteristics of robot software (eg functional languages [6, 7, 27, 28])...

    Bruce MacDonaldet al. Robot Programming Environments

    • ...The functional reactive language suite AFRP, including the robot programming language FROB [PNH02], is based on time varying behaviours and discrete events [WH00, NCP02]...

    Jan Carlson. A resource-efficient event detection algebra

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