The introduction of autonomous agents to replace humans in unfavorable and unreachable environments has been a longstanding goal in the field of robotics. The existing work of various researchers address several challenges involved in design or control of such robotic systems. However, existing solutions have been unable to offer users an easy and efficient programming environment for developing versatile robotic applications. These inadequacies have given rise to the development of a new robot programming language, called Programming LAnguage for Synchronous Agents (PLASA).
The main objective of this paper is to give a brief introduction about the newly developed robot programming language, PLASA, which facilitates the rapid implementation of co-operative applications on multiple physical robots, in dynamic environments. The syntax and semantics of this language are similar to those in many other high-level programming languages. In addition to the features offered by other high-level languages, PLASA offers two novel instructions: "do instruction'', which helps in executing the main motion primitives, and "query instruction'', which helps in executing a great variety of geometric and mathematical queries. A compiler produces a program that is executed by a virtual machine in each of the robots. The virtual machine offers a key characteristic that guarantees the timely execution of robots' movements through a synchronization protocol. To verify the correct functionality of the co-operative applications, a simulator that includes the proposed components has been provided.
The developed language offers abstraction for hiding complex network details and delivers human-readable language; these features make the programming environment suitable for anyone to control robot systems, regardless of expertise. The synchronization and co-ordination mechanisms provided by the language ensure the safety and prompt execution of robot operations in a robot system developed using PLASA.
|Advisor:||Ponce, Oscar Morales|
|Commitee:||Lam, Shui, Moon, Ju Cheol|
|School:||California State University, Long Beach|
|Department:||Computer Engineering and Computer Science|
|School Location:||United States -- California|
|Source:||MAI 58/04M(E), Masters Abstracts International|
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