Functional programming of behavior-based systems

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)83-93
Number of pages11
JournalAutonomous Robots
Issue number1
StatePublished - Aug 2000

ASJC Scopus subject areas

  • Artificial Intelligence


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