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Multiple robot programming using a concurrent logic language

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Abstract

Advances in robotics has led to the cooperation of multiple robots among themselves and with their industrial automation environment. Efficient interaction with industrial robots thus becomes one of the key factors in the successful utilization of this modern equipment. When multiple manipulators have to be coordinated, there is a need for a new programming approach that facilitates and encompasses the needs of concurrency, synchronization, timing, and communication. Most robot languages have been developed with little attention being given to the integration of the robot with its environment. Currently, there is a gap between the robot capabilities, the task definition environment, and language facilities supplied to use robots.

This paper analyzes the needs and then establishes that a concurrent logic programming approach is a step towards achieving a multi-robot knowledgeable task programming. In particular, the FCP dialect of concurrent Prolog is demonstrated, and analyzed.

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Additional information

This research is partially supported by the Paul Ivanier Center for research in robots and production management.

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Ben-Arieh, D., Maimon, O. Multiple robot programming using a concurrent logic language. J Intell Robot Syst 4, 25–41 (1991). https://doi.org/10.1007/BF00452100

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Key words

  • Multi-robot system
  • programming languages
  • concurrent programming
  • logic programming
  • concurrent Prolog