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.
ASJC Scopus subject areas
- Artificial Intelligence