%0 Conference Paper %1 Pembeci:2002:FRR:571157.571174 %A Pembeci, Izzet %A Nilsson, Henrik %A Hager, Gregory %B Proceedings of the 4th ACM SIGPLAN International Conference on Principles and Practice of Declarative Programming %C New York, NY, USA %D 2002 %I ACM %K functionalprogramming %P 168--179 %R 10.1145/571157.571174 %T Functional Reactive Robotics: An Exercise in Principled Integration of Domain-specific Languages %U http://doi.acm.org/10.1145/571157.571174 %X 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. %@ 1-58113-528-9

@inproceedings{Pembeci:2002:FRR:571157.571174, abstract = {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.}, acmid = {571174}, added-at = {2014-12-10T04:12:31.000+0100}, address = {New York, NY, USA}, author = {Pembeci, Izzet and Nilsson, Henrik and Hager, Gregory}, biburl = {https://www.bibsonomy.org/bibtex/275153e40688ec9113c22306ed29bb3e2/wolftype}, booktitle = {Proceedings of the 4th ACM SIGPLAN International Conference on Principles and Practice of Declarative Programming}, description = {Functional reactive robotics}, doi = {10.1145/571157.571174}, interhash = {4f3f9ec90aa31275723db51c45c16ee8}, intrahash = {75153e40688ec9113c22306ed29bb3e2}, isbn = {1-58113-528-9}, keywords = {functionalprogramming}, location = {Pittsburgh, PA, USA}, numpages = {12}, pages = {168--179}, publisher = {ACM}, series = {PPDP '02}, timestamp = {2014-12-10T04:12:31.000+0100}, title = {Functional Reactive Robotics: An Exercise in Principled Integration of Domain-specific Languages}, url = {http://doi.acm.org/10.1145/571157.571174}, year = 2002 }