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A task description language for robot control
Abstract
Robot systems must achieve high level goals while remaining reactive to contingencies and new opportunities. This typically requires robot systems to coordinate concurrent activities, monitor the environment, and deal with exceptions. We have developed a new language to support such task-level control. The language, TDL, is an extension of C++ that provides syntactic support for task decomposition, synchronization, execution monitoring, and exception handling. A compiler transforms TDL into pure C++ code that utilizes a platform-independent task management library. This paper introduces TDL, describes the task tree representation that underlies the language, and presents some aspects of its implementation and use in an autonomous mobile robot.
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Cited by
Stanley: The robot that won the DARPA Grand Challenge
Thrun, S., Montemerlo, M., Dahlkamp, H., Stavens, D., Aron, A., Diebel, J., Fong, P., Gale, J., Halpenny, M., Hoffmann, G., et al. (2006) · Journal of Field Robotics · doi:10.1002/rob.20147 · Cited by 2,237
Deliberation for autonomous robots: A survey
Ingrand, F., & Ghallab, M. (2017) · Artificial Intelligence · doi:10.1016/j.artint.2014.11.003 · Cited by 309
The CLARAty architecture for robotic autonomy
Volpe, R., Nesnas, I., Estlin, T., Mutz, D., Petras, R., & Das, H. (2002) · 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542) · doi:10.1109/aero.2001.931701 · Cited by 265
SkillMaN — A skill-based robotic manipulation framework based on perception and reasoning
Diab, M., Pomarlan, M., Beßler, D., Akbari, A., Rosell, J., Bateman, J., & Beetz, M. (2020) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2020.103653 · Cited by 23
Metadata
- Authors
- Simmons, R., & Apfelbaum, D.
- Venue
- Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)
- Publisher
- IEEE
- Published
- 2002-11-27
- Volume
- 3
- Pages
- 1931-1937
- OpenAlex
- W2171724570
- Cited by
- 318
- References
- 0
- FWCI
- 32.19
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Simmons, R., & Apfelbaum, D. (2002). A task description language for robot control. Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190). https://doi.org/10.1109/iros.1998.724883
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