Schultz, Ulrik Pagh3; Christensen, David Johan3; Støy, Kasper3
1 Faculty of Engineering, SDU2 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU3 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU
A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape. Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular, self-reconfigurable robots, we have developed a declarative, role-based language that allows the programmer to define roles and behavior independently of the concrete physical structure of the robot. Roles are compiled to mobile code fragments that distribute themselves over the physical structure of the robot using a dedicated virtual machine implemented on the ATRON self-reconfigurable robot.
Apges 2007 - Automatic Program Generation for Embedded Systems - Workshop Proceedings, 2007, p. 28-36
self-reconfigurable robot; domain-specific language
Main Research Area:
A Domain-Specific Language for Programming Self-Reconfigurable Robots, 2007