Functional reactive robotics: an exercise in principled integration of domain-specific languages
Functional reactive robotics: an exercise in principled integration of domain-specific languages
复制标题
功能反应机器人：特定领域语言的原则性集成练习
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
Gregory Hager
中科院分区：
文献类型：
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作者：
Izzet Pembeci;H. Nilsson;Gregory Hager
用于（半）自主机器人的软件往往是来自许多不同应用领域（如控制理论、视觉和人工智能）的组件的复杂组合。组件通常使用它们自己的特定于领域的工具和抽象来开发。因此，系统集成可能是一个重大的挑战，特别是当应用程序需要一个动态的，可适应的系统结构，其中子系统之间的刚性边界是一个性能障碍。我们相信，通过适当地确定不同领域的共同抽象概念的问题，有可能创建一个更广泛的框架，软件集成和重铸现有的特定领域的框架在这些条款。这种方法简化了集成并提高了可靠性。在本文中，我们将展示如何功能反应式编程（FRP）可以作为这样一个统一的框架编程视觉引导，半自主机器人，并说明这种方法带来的好处。在FRP的关键抽象，反应组件描述连续或离散的行为，在声明式的，是第一类实体，使所得到的系统表现出一个动态的，适应性强的结构，我们认为在自治机器人领域特别重要。
Software for (semi-) autonomous robots tends to be a complex combination of components from many different application domains such as control theory, vision, and artificial intelligence. Components are often developed using their own domain-specific tools and abstractions. System integration can thus be a significant challenge, in particular when the application calls for a dynamic, adaptable system structure in which rigid boundaries between the subsystems are a performance impediment. We believe that, by identifying suitably abstract notions common to the different domains in question, it is possible to create a broader framework for software integration and to recast existing domain-specific frameworks in these terms. This approach simplifies integration and leads to improved reliability. In this paper, we show how Functional Reactive Programming (FRP) can serve as such a unifying framework for programming vision-guided, semi-autonomous robots and illustrate the benefits this approach entails. The key abstractions in FRP, reactive components describing continuous or discrete behavior in a declarative style, are first class entities, allowing the resulting systems to exhibit a dynamic, adaptable structure which we regard as especially important in the area of autonomous robots.