WG211/M11Schultz

Programming Language Abstracts for Modular Robots by Ulrik Pagh Schultz

Self-reconfigurable, modular robots are distributed mechatronic devices that can autonomously change their physical shape. Self-reconfiguration from one shape to another is typically achieved through a specific sequence of actuation operations distributed across the modules of the robot. More generally, control of self-reconfigurable robots requires individual modules to act in specific ways in response to sensor input, these actions need to be coordinated across the modules of the robot, and must be adapted to the current physical shape of the robot. Robust sequential control and role-based control of individual modules has been experimentally demonstrated using the DynaRole language. Supported by the M3L geometrical language, this control can even be abstracted over the morphology of the robot and the physical shape of the individual modules. DynaRole however only allows simple sequences of distributed operations to be executed, which is suitable for self-reconfiguration sequences but lacks the generality needed to implement more complex behaviors.

In this talk I will present our existing work on programming languages for modular robots, as well as a work-in-progress on generalizing the DynaRole language to support a wider range of modular robot control scenarios, while retaining robustness, scalability, reversibility, and the ability to declaratively address issues pertaining to the spatial composition of the robot.