On the way to high-level programming for resource-limited embedded systems with Golog

Authors:
Alexander Ferrein;Gerald Steinbauer
Affiliations:
Robotics and Agent Research Lab, University of Cape Town, Cape Town, South Africa;Institute for Software Technology, Graz University of Technology, Graz, Austria
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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Abstract

In order to allow an autonomous robot to perform non-trivial tasks like to explore a foreign planet the robot has to have deliberative capabilities like reasoning or planning. Logic-based approaches like the programming and planing language Golog and it successors has been successfully used for such decision-making problems. A drawback of this particular programing language is that their interpreter usually are written in Prolog and run on a Prolog back-end. Such back-ends are usually not available or feasible on resource-limited robot systems. In this paper we present our ideas and first results of a re-implementation of the interpreter based on the Lua scripting language which is available on a wide range of systems including small embedded systems.