Functional Reactive Robotics: An Exercise in Principled Integration of Domain-specific Languages
I. Pembeci, H. Nilsson, and G. Hager. Proceedings of the 4th ACM SIGPLAN International Conference on Principles and Practice of Declarative Programming, page 168--179. New York, NY, USA, ACM, (2002)
DOI: 10.1145/571157.571174
Abstract
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.
%0 Conference Paper
%1 Pembeci:2002:FRR:571157.571174
%A Pembeci, Izzet
%A Nilsson, Henrik
%A Hager, Gregory
%B Proceedings of the 4th ACM SIGPLAN International Conference on Principles and Practice of Declarative Programming
%C New York, NY, USA
%D 2002
%I ACM
%K functionalprogramming
%P 168--179
%R 10.1145/571157.571174
%T Functional Reactive Robotics: An Exercise in Principled Integration of Domain-specific Languages
%U http://doi.acm.org/10.1145/571157.571174
%X 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.
%@ 1-58113-528-9
@inproceedings{Pembeci:2002:FRR:571157.571174,
abstract = {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.},
acmid = {571174},
added-at = {2014-12-10T04:12:31.000+0100},
address = {New York, NY, USA},
author = {Pembeci, Izzet and Nilsson, Henrik and Hager, Gregory},
biburl = {https://www.bibsonomy.org/bibtex/275153e40688ec9113c22306ed29bb3e2/wolftype},
booktitle = {Proceedings of the 4th ACM SIGPLAN International Conference on Principles and Practice of Declarative Programming},
description = {Functional reactive robotics},
doi = {10.1145/571157.571174},
interhash = {4f3f9ec90aa31275723db51c45c16ee8},
intrahash = {75153e40688ec9113c22306ed29bb3e2},
isbn = {1-58113-528-9},
keywords = {functionalprogramming},
location = {Pittsburgh, PA, USA},
numpages = {12},
pages = {168--179},
publisher = {ACM},
series = {PPDP '02},
timestamp = {2014-12-10T04:12:31.000+0100},
title = {Functional Reactive Robotics: An Exercise in Principled Integration of Domain-specific Languages},
url = {http://doi.acm.org/10.1145/571157.571174},
year = 2002
}