Paper Details

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.

Proceedings:

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, Amsterdam

Files: Paper (PDF), Slides (PDF)

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