Toward Process Architectures for Behavioural Robotics
Authors: Simpson, Jonathan, Ritson, Carl G.
Abstract:Building robot control programs which function as intended is a challenging task. Roboticists have developed architectures to provide principles, constraints and primitives which simplify the building of these correct, well structured systems. A number of established and prevalent behavioural architectures for robot control make use of explicit parallelism with message passing. Expressing these architectures in terms of a process-oriented programming language, such as occam-pi, allows us to distil design rules, structures and primitives for use in the development of process architectures for robot control.
Communicating Process Architectures 2009, Peter H. Welch, Herman Roebbers, Jan F. Broenink, Frederick R. M. Barnes, Carl G. Ritson, Adam T. Sampson, G. S. Stiles, Brian Vinter, 2009, pp 375 - 386 published by IOS Press, AmsterdamFiles: Paper (PDF), Slides (PDF)
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