Comprehension and recall of miniature programs
International Journal of Man-Machine Studies - Lecture notes in computer science Vol. 174
A robust layered control system for a mobile robot
Artificial intelligence at MIT
Adaptive execution in complex dynamic worlds
Adaptive execution in complex dynamic worlds
The productive programmer
Object schemas for grounding language in a responsive robot
Connection Science - Language and Robots
A survey of software learnability: metrics, methodologies and guidelines
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Coaching to enhance the online behavior learning of a robotic agent
KES'10 Proceedings of the 14th international conference on Knowledge-based and intelligent information and engineering systems: Part I
The implementation of care-receiving robot at an english learning school for children
Proceedings of the 6th international conference on Human-robot interaction
Proceedings of the 6th international conference on Human-robot interaction
IEEE Transactions on Evolutionary Computation
Computational and Robotic Models of the Hierarchical Organization of Behavior
Computational and Robotic Models of the Hierarchical Organization of Behavior
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Small humanoid robots are becoming more affordable and are now used in fields such as human-robot interaction, ethics, psychology, or education. For non-roboticists, the standard paradigm for robot visual programming is based on the selection of behavioral blocks, followed by their connection using communication links. These programs provide efficient user support during the development of complex series of movements and sequential behaviors. However, implementing dynamic control remains challenging because the data flow between components to enforce control loops, object permanence, the memories of object positions, odometry, and finite state machines has to be organized by the users. In this study, we develop a new programming paradigm, Targets-Drives-Means, which is suitable for the specification of dynamic robotic tasks. In this proposed approach, programming is based on the declarative association of reusable dynamic components. A central memory organizes the information flows automatically and issues related to dynamic control are solved by processes that remain hidden from the end users. The proposed approach has advantages during the implementation of dynamic behaviors, but it requires that users stop conceiving robotic tasks as the execution of a sequence of actions. Instead, users are required to organize their programs as collections of behaviors that run in parallel and compete for activation. This might be considered non-intuitive but we also report the positive outcomes of a usability experiment, which evaluated the accessibility of the proposed approach.