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 |
|---|---|
| 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 |
| Additional Links: |
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.
BibTeX@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},
}
