Lua—an extensible extension language
Software—Practice & Experience
Introduction to AI Robotics
Multiagent systems specification by UML statecharts aiming at intelligent manufacturing
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
LICS '96 Proceedings of the 11th Annual IEEE Symposium on Logic in Computer Science
Autonomous Robots: From Biological Inspiration to Implementation and Control (Intelligent Robotics and Autonomous Agents)
Proceedings of the third ACM SIGPLAN conference on History of programming languages
IEEE Software
DLS '08 Proceedings of the 2008 symposium on Dynamic languages
Hybrid multiagent systems with timed synchronization: specification and model checking
ProMAS'07 Proceedings of the 5th international conference on Programming multi-agent systems
On the way to high-level programming for resource-limited embedded systems with Golog
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Design principles of the component-based robot software framework Fawkes
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
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The high-level decision making process of an autonomous robot can be seen as an hierarchically organised entity, where strategical decisions are made on the topmost layer, while the bottom layer serves as driver for the hardware. In between is a layer with monitoring and reporting functionality. In this paper we propose a behaviour engine for this middle layer which, based on formalism of hybrid state machines (HSMs), bridges the gap between high-level strategic decision making and low-level actuator control. The behaviour engine has to execute and monitor behaviours and reports status information back to the higher level. To be able to call the behaviours or skills hierarchically, we extend the model of HSMs with dependencies and sub-skills. These Skill-HSMs are implemented in the lightweight but expressive Lua scripting language which is well-suited to implement the behaviour engine on our target platform, the humanoid robot Nao.