System architecture directions for networked sensors
ASPLOS IX Proceedings of the ninth international conference on Architectural support for programming languages and operating systems
Programming a paintable computer
Programming a paintable computer
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
Region streams: functional macroprogramming for sensor networks
DMSN '04 Proceeedings of the 1st international workshop on Data management for sensor networks: in conjunction with VLDB 2004
Infrastructure for Engineered Emergence on Sensor/Actuator Networks
IEEE Intelligent Systems
Programming an amorphous computational medium
UPP'04 Proceedings of the 2004 international conference on Unconventional Programming Paradigms
A Language for Large Ensembles of Independently Executing Nodes
ICLP '09 Proceedings of the 25th International Conference on Logic Programming
Programming micro-aerial vehicle swarms with karma
Proceedings of the 9th ACM Conference on Embedded Networked Sensor Systems
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Multi-robot systems are becoming increasingly prevalent, but programmability is a major barrier to their deployment. Present systems force programmers to think in terms of individual agents. Application code becomes entangled with details of coordination and robustness and often does not compose well or translate to other domains. We offer an alternate approach whereby the programmer controls a single virtual spatial computer which fills the environment space. The computations on this spatial computer are actually performed by a large number of locally-interacting individual agents. This abstracts the actual computational hardware behind the spatial computer interface, and allows the programmer to focus on a single model of global computation. We achieve this abstraction with two components: a language that embodies continuous space and time semantics and a runtime library that implements these semantics approximately. We demonstrate the efficacy of our approach with multi-agent algorithms in both simulation and on a group of 40 robots