TY - JOUR
T1 - Functional programming of behavior-based systems
AU - Horswill, Ian D
N1 - Funding Information:
Support for this work was provided in part by the National Science Foundation under award #IRI-9625041 and in part by the Defense Advanced Research Projects Agency Mobile Autonomous Robot Software Program under award N66001-99-1-8919 and by the DARPA Distributed Robotics Program and the U.S. Army Soldier Systems Command under award #DAAN02-98-C-4023/MOD P3.
PY - 2000/8
Y1 - 2000/8
N2 - In this paper, I describe a simple functional programming language, GRL, in which most of the characteristic features of the popular behavior-based robot architectures can be concisely written as reusable software abstractions. This makes it easier to write clear, modular code, to `mix and match' arbitration mechanisms, and to experiment with variations on existing mechanisms. I describe the compilation process for the language, our experiences with it, and issues of efficiency, expressiveness, and code size relative to other languages.
AB - In this paper, I describe a simple functional programming language, GRL, in which most of the characteristic features of the popular behavior-based robot architectures can be concisely written as reusable software abstractions. This makes it easier to write clear, modular code, to `mix and match' arbitration mechanisms, and to experiment with variations on existing mechanisms. I describe the compilation process for the language, our experiences with it, and issues of efficiency, expressiveness, and code size relative to other languages.
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U2 - 10.1023/A:1008932520090
DO - 10.1023/A:1008932520090
M3 - Article
AN - SCOPUS:0034249335
SN - 0929-5593
VL - 9
SP - 83
EP - 93
JO - Autonomous Robots
JF - Autonomous Robots
IS - 1
ER -