Visual Programming and Program Visualization Techniques for Port-Based Objects

In this paper, we discuss in detail the motivation behind the creation of the Onika Iconic Programming Language and Human-Machine Interface, developed at Carnegie Mellon University and used to program and control various robotic systems in both automous and teleoperative modes. Additionally, we discuss the syntax and grammar of the iconic languages presented therein, and show how they can be used to create complete applications to be executed on any manipulator.