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

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