%T Toward Process Architectures for Behavioural Robotics
%A  Jonathan Simpson,  Carl G. Ritson
%E Peter H. Welch,  Herman Roebbers,  Jan F. Broenink,  Frederick R. M. Barnes,  Carl G. Ritson,  Adam T. Sampson,  G. S. Stiles,  Brian Vinter
%B Communicating Process Architectures 2009
%X 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.