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John Peterson

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers

1 author row

ICRA Conference 2002 Conference Paper

Specifying Behavior in C++

Xiangtian Dai
Gregory D. Hager
John Peterson

Most robot programming takes place in the "time domain", that is, the goal is to specify the behavior of a system that is acquiring a continual temporal stream of inputs, and is required to provide a continual, temporal stream of outputs. We present a reactive programming language, based on the functional reactive programming paradigm, for specifying such behavior. The major attributes of this language are: 1) it provides for both synchronous and asynchronous definitions of behavior; 2) specification is equational in nature; 3) it is type safe; and 4) it is embedded in C++. In particular the latter makes it simple to "lift" existing C++ libraries into the language.

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ICRA Conference 1999 Conference Paper

A Language for Declarative Robotic Programming

John Peterson
Gregory D. Hager
Paul Hudak

We have applied methodologies developed for domain-specific embedded languages to create a high-level robot control language called Frob, for functional robotics. Frob supports a programming style that cleanly separates the what from the how of a robotic control program. That is, the what is a simple, easily understood definition of the control strategy using groups of equations and primitives which combine sets of these control system equations into a complex system. The how aspect of the program addresses the unpleasant details, such as the method used to realize these equations, the connection between the control equations and the sensors and effectors in the robot, and communication with other elements of the system. Frob is a system that supports rapid prototyping of new control strategies, enables software reuse through composition, and defines a system in a way that can be formally reasoned about and transformed.

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