An object-oriented paradigm for the design and implementation of robot planning and programming systems

Author

Boyer, Martin ; Daneshmend, Laeeque K. ; Hayward, Vincent ; Foisy, Andre

Author_Institution

Robotics Lab., Hydro-Quebec Res. Inst., Varennes, Que., Canada

fYear

1991

fDate

9-11 Apr 1991

Firstpage

204

Abstract

Traditional software design methodologies have been shown to have drawbacks in designing and implementing software systems for robotics. A novel dual-hierarchical object-oriented design methodology is presented, which is well suited to problems of this type. A practical example of the application of this methodology is presented, utilizing CLOS as the implementation vehicle. The methodology developed is shown to facilitate the programming and planning of complex robot tasks, and the provision of generic recovery procedures for exception handling

Keywords

object-oriented programming; planning (artificial intelligence); robot programming; CLOS; dual-hierarchical object-oriented design methodology; exception handling; generic recovery procedures; robot planning; robot programming; robot tasks; Functional programming; Genetic programming; Object oriented programming; Parallel programming; Parallel robots; Process planning; Robot programming; Software design; Software systems; Taxonomy;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131979

Filename

131979