Controlling Logistics Robots with the Action-Based Language YAGI

  • Alexander Ferrein
  • Christopher Maier
  • Clemens Mühlbacher
  • Tim Niemueller
  • Gerald Steinbauer
  • Stavros Vassos
Conference paper

DOI: 10.1007/978-3-319-43506-0_46

Part of the Lecture Notes in Computer Science book series (LNCS, volume 9834)
Cite this paper as:
Ferrein A., Maier C., Mühlbacher C., Niemueller T., Steinbauer G., Vassos S. (2016) Controlling Logistics Robots with the Action-Based Language YAGI. In: Kubota N., Kiguchi K., Liu H., Obo T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science, vol 9834. Springer, Cham

Abstract

To achieve any meaningful tasks, a robot needs some form of task-level executive which acquires knowledge, reasons or plans, and performs and monitors actions. A formal approach for such agent programming is the Golog agent programming language. Golog is based on a first-order logic representation, and a drawback of common implementations is that in order to program agents, also knowledge of Prolog functionality is typically needed. In this paper, we present a prototype implementation of YAGI, a language rooted in Golog that offers a practical subset of the rich Golog framework in a more familiar syntax. Bridging imperative-style programming with an action-based specification, YAGI is more accessible to developers and provides a better ground for robot task-level executives. Moreover, we developed bindings for popular robotics frameworks such as ROS and Fawkes. As a proof of concept we present a YAGI-based agent for the RoboCup Logistics League which shows the expressiveness and the possibility to easily embed YAGI into robot applications.

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Alexander Ferrein
    • 1
  • Christopher Maier
    • 2
  • Clemens Mühlbacher
    • 2
  • Tim Niemueller
    • 3
  • Gerald Steinbauer
    • 2
  • Stavros Vassos
    • 4
  1. 1.Mobile Autonomous Systems and Cognitive Robotics InstituteFH Aachen University of Applied SciencesAachenGermany
  2. 2.Institute for Software TechnologyGraz University of TechnologyGrazAustria
  3. 3.Knowledge-Based Systems GroupRWTH Aachen University of TechnologyAachenGermany
  4. 4.Department of Computer, Control, and Management EngineeringSapienza University of RomeRomeItaly

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