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Programming Architectures for Robotic Systems
Surveys
- MacDonald, B., Yuen, D., Wong, S., Woo E., Gronlund, R.,
Collett, T., Trepanier, F., and Biggs, G.
Robot programming environments. In ENZCon2003 10th
Electronics New Zealand Conference, University of Waikato,
Hamilton, 1-2 September 2003.
Low-level abstractions and real-time execution
- Gerkey, B., Stoy, K. and Vaughan, R.
Player Robot Server. Technical Report IRIS-00-392, Institute
for Robotics and Intelligent Systems, School of Engineering,
University of Southern California, November 2000
- Vaughan, R. T., Gerkey, B. P., and Howard, A.
On device abstractions for portable, reusable robot code. In
Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent
Robots and Systems (IROS03), pages 2421{2427, Las Vegas, Nevada,
October 2003.
- Simmons, R. and Apfelbaum, D., A Task
Description Language for Robot Control. In Proceedings
Conference on Intelligent Robotics and Systems, October, 1998.
- Henzinger, T. A., Horowitz, B., and Kirsch, C. M., Giotto: A time-triggered language for embedded
programming. In Proceedings of the First International
Workshop on Embedded Software (EMSOFT), Lecture Notes in
Computer Science 2211, Springer-Verlag, 2001, pp. 166-184.
- Henzinger, T. A., Horowitz, B., and Kirsch, C. M.,
Embedded control systems development with Giotto. In
Proceedings of the International Conference on Languages,
Compilers, and Tools for Embedded Systems (LCTES), ACM Press,
2001, pp. 64-72.
Behavioral abstractions
- Wan, Z. and Hudak, P. Functional
Reactive Programming from First Principles. In Proc. ACM
SIGPLAN'00 Conference on Programming Language Design and
Implementation (PLDI'00), 2000
- Peterson, J., Hager, G. and Hudak, P., A
Language for Declarative Robotic Programming. In The
Proceedings of the International Conference on Robotics and
Automation, 1999.
- Levesque, H.J., Reiter, R., Lesperance, Y., Lin, F., Scherl,
R. B., GOLOG: A
Logic Programming Language for Dynamic Domains. In the
Journal of Logic Programming 31(1-3):59-83, April-June 1997.
Research on Hybrid Control Systems
- Alur, R., Henzinger, T. A., Lafferriere, G., and Pappas,
G. J.
Discrete abstractions of hybrid systems in Proceedings
of the IEEE 88:971-984, 2000
The above paper introduces finite, discrete abstractions to
hybrid systems which preserve properties of the original system
to be analyzed. In doing so, it concludes that either the
discrete or the continuous part of the original system must be
in a restricted class for decidability of the resulting
automata.
- Davoren, J. M., Nerode, A,
Logics for Hybrid Systems in Proceedings of the IEEE
, 88(7):985-1010, 2000
The above paper presents a tutorial survey on the use of
logics and and formal methods in the analysis and synthesis of
hybrid control systems.
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Compositional Refinement for Hierarchical Hybrid Systems
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Hierarchically consistent control systems.
- Koutsoukus, X. D., Antsaklis, P. J., Stiver, J. A. and
Lemmon, M. D.
Supervisory Control of Hybrid Systems in Proceedings of
the IEEE, 88(7):1026-1049, 2000
Verification of Hardware and Software Systems
- Clarke, E. M. and Wing, J. M. Formal Methods: State of the Art and Future
Directions in ACM Computing Surveys, December 1996
- Simmons, R., Pecheur, C. and Srinivasan, G., Towards Formal Verification of Autonomous
Systems. In Proceedings of the Conference on Intelligent
Robots and Systems (IROS), Takamatsu Japan, October 2000.
Specification and Modeling
- David Harel, Statecharts: A Visual Formulation for Complex
Systems in Science of Computer Programming 8(3):
231-274, 1987
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