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ACM SIGART Bulletin
X Vision: a portable substrate for real-time vision applications
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Prototyping real-time vision systems: an experiment in DSL design
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Science of Computer Programming - Special issue on mathematics of program construction
Functional reactive programming from first principles
PLDI '00 Proceedings of the ACM SIGPLAN 2000 conference on Programming language design and implementation
Proceedings of the sixth ACM SIGPLAN international conference on Functional programming
An Behavior-based Robotics
Functional reactive programming, continued
Proceedings of the 2002 ACM SIGPLAN workshop on Haskell
An architecture for Real-Time Reasoning and System Control
IEEE Expert: Intelligent Systems and Their Applications
Functional reactive programming, continued
Proceedings of the 2002 ACM SIGPLAN workshop on Haskell
PADL '03 Proceedings of the 5th International Symposium on Practical Aspects of Declarative Languages
Functional automatic differentiation with dirac impulses
ICFP '03 Proceedings of the eighth ACM SIGPLAN international conference on Functional programming
Why it's nice to be quoted: quasiquoting for haskell
Haskell '07 Proceedings of the ACM SIGPLAN workshop on Haskell workshop
Flask: staged functional programming for sensor networks
Proceedings of the 13th ACM SIGPLAN international conference on Functional programming
Nikola: embedding compiled GPU functions in Haskell
Proceedings of the third ACM Haskell symposium on Haskell
On temporal logic and signal processing
ATVA'12 Proceedings of the 10th international conference on Automated Technology for Verification and Analysis
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Software for (semi-) autonomous robots tends to be a complex combination of components from many different application domains such as control theory, vision, and artificial intelligence. Components are often developed using their own domain-specific tools and abstractions. System integration can thus be a significant challenge, in particular when the application calls for a dynamic, adaptable system structure in which rigid boundaries between the subsystems are a performance impediment. We believe that, by identifying suitably abstract notions common to the different domains in question, it is possible to create a broader framework for software integration and to recast existing domain-specific frameworks in these terms. This approach simplifies integration and leads to improved reliability. In this paper, we show how Functional Reactive Programming (FRP) can serve as such a unifying framework for programming vision-guided, semi-autonomous robots and illustrate the benefits this approach entails. The key abstractions in FRP, reactive components describing continuous or discrete behavior in a declarative style, are first class entities, allowing the resulting systems to exhibit a dynamic, adaptable structure which we regard as especially important in the area of autonomous robots.