Controlling Logistics Robots with the Action-based Language YAGI
In Proc. 9th International Conference on Intelligent Robotics and Applications (ICIRA2016)
Authors: | Alexander Ferrein, Christopher Maier, Clemens Muehlbacher, Tim Niemueller, Gerald Steinbauer, Stavros Vassos |
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Type: | Article in Conference Proceedings |
Publication Date: | August 2016 |
Conference: | 9th International Conference on Intelligent Robotics and Applications (ICIRA2016), Tokyo, Japan |
Download: | yagi-rcll-icira2016.pdf |
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Abstract: To achieve any meaningful tasks, a robot needs some form of task-level executive which acquires knowledge, reasons or plans, and performs and monitors actions. A formal approach for such agent programming is the Golog agent programming language. Golog is based on a first-order logic representation, and a drawback of common implementations is that in order to program agents, also knowledge of Prolog functionality is typically needed. In this paper, we present a prototype implementation of YAGI, a language rooted in Golog that offers a practical subset of the rich Golog framework in a more familiar syntax. Bridging imperative-style programming with an action-based specification, YAGI is more accessible to developers and provides a better ground for robot task-level executives. Moreover, we developed bindings for popular robotics frameworks such as ROS and Fawkes. As a proof of concept we present a YAGI-based agent for the RoboCup Logistics League which shows the expressiveness and the possibility to easily embed YAGI into robot applications.
Notes: Fawkes is used as the integration framework for YAGI in the RCLL.
@InProceedings{yagi-rcll-icira2016-2016, title = {{Controlling Logistics Robots with the Action-based Language YAGI}}, author = {Alexander Ferrein and Christopher Maier and Clemens Muehlbacher and Tim Niemueller and Gerald Steinbauer and Stavros Vassos}, booktitle = {Proc. of 9th International Conference on Intelligent Robotics and Applications (ICIRA2016)}, address = {Tokyo, Japan}, year = {2016}, }