Programming Language for Robot System Integration based on RT-middleware Technology

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This research project investigated the use of the concurrent Erlang programming language and Erlang-like techniques in the development of robotic systems, with a specific goal of providing tools to support the RT Middleware project. The project's outcomes can be divided into two categories : tools and knowledge. In the tools category, we have developed three tools for assisting in the development of robotic systems: a framework for creating coordinators, using Erlang to provide robustness and distributed system support ; an implementation of RT Middleware using Erlang as the underlying technology ; and a component manager based on techniques developed by Erlang for providing fault-tolerant management of software resources in the face of system failures. This last tool has led to the technique involved, known as Supervision Trees, becoming a core part of a standard under development at the Object Management Group.