Programming Robots With Events

Truong Giang Le (1) , Dmitriy Fedosov (2) , Olivier Hermant (3, 4) , Matthieu Manceny (1) , Renaud Pawlak (5) , Renaud Rioboo (6, 7)

1 LISITE - Laboratoire d'Informatique, Signal et Image, Electronique et Télécommunication
2 SUAI - Saint-Petersburg University of Aerospace Instrumentation
3 CRI - Centre de Recherche en Informatique
4 DEDUCTEAM - Deduction modulo, interopérabilité et démonstration automatique
5 IDCapture
6 CEDRIC - Centre d'études et de recherche en informatique et communications
7 ENSIIE - Ecole Nationale Supérieure d'Informatique pour l'Industrie et l'Entreprise

We introduce how to use event-based style to program robots through the INI programming language. INI features both built-in and user-defined events, a mechanism to handle various kinds of changes happening in the environment. Event handlers run in parallel either synchronously or asynchronously, and events can be reconfigured at runtime to modify their behavior when needed. We apply INI to the humanoid robot called Nao, for which we develop an object tracking program.

Mots clés: context-aware reactive systems; parallel programming; robotics; event-based programming

Domaines: Langage de programmation [cs.PL]; Robotique [cs.RO]; Performance et fiabilité [cs.PF]

Truong Giang Le, Dmitriy Fedosov, Olivier Hermant, Matthieu Manceny, Renaud Pawlak, et al.. Programming Robots With Events. 4th International Embedded Systems Symposium (IESS), Jun 2013, Paderborn, Germany. pp.14-25, ⟨10.1007/978-3-642-38853-8_2⟩. ⟨hal-00924489⟩