Programming Modular Robots with Locally Distributed Predicates
journal contributionposted on 01.01.1981 by Michael De Rosa, Seth C. Goldstein, Peter Lee, Padmanabhan Pillai, Jason Campbell
Any type of content formally published in an academic journal, usually following a peer-review process.
We present a high-level language for programming modular robotic systems, based on locally distributed predicates (LDP), which are distributed conditions that hold for a connected subensemble of the robotic system. An LDP program is a collection of LDPs with associated actions which are triggered on any subensemble that matches the predicate. The result is a reactive programming language which efficiently and concisely supports ensemble-level programming. We demonstrate the utility of LDP by implementing three common, but diverse, modular robotic tasks.