AITEC Contract Research Projects in FY1997 : Software

(18) Concurrent and Cooperative Control Software Systems for Mobile Robots

Principal Investigator : Fumio Mizoguchi, Professor
Science University of Tokyo

Concurrent and Cooperative Control Software Systems for Mobile Robots


by

Professor Fumio Mizoguchi



[Features of the Software]

This software is a programming language for communication with and control of robots and sensors.

R2 is an agent language for control of robots and sensors (i.e. robotic agents). R2 programs are compiled into KL1 programs that are then compiled, by using the KLIC system, into C programs running on UNIX-based systems. D2 is the pattern of difinition for robots control and cooperative control.

This language extends KL1 and the behavior of an agent is specified by a set of guarded Horn clauses that are executed in parallel. In this sense, the multiagent robots are defined declaratively and controlled procedurally based on parallel processing, such as concurrency and synchronization.

[Required Environment]

Robot language R2-D2
machine : UNIX machine
The environment that KLIC runs.
Simulator for the mobile robot
machine : UNIX machine
OS : Solaris
The environment that Java runs.

[File Configuration]

SOURCE      Directory for Source File
     +------ compile.kl1   The R2-D2 Compiler
     +------ util.kl1      The utility 

Simulator   Simulator for mobile robot
     +------ JavaApplet    Simulator
     +------ Server        Controller

Sample      Sample programs
     +------ Arm      Sample programs for arm robot
               +----  ArmSimulator   Simulator for arm robot
     +------ Mobile   Sample programs for mobile robot

Doc         User's Manual


[FTP]

www-admin@icot.or.jp