Graphical State Space Programming: A visual programming paradigm for robot task specification

We describe a framework that combines a software development paradigm, a software visualization technique, and a tool for robot programming. This infrastructure is called “Graphical State Space Programming” (GSSP), and allows robot application programs to be decomposed and visualized within state-dependent views. Our approach simplifies and expedites the programming process for robot routines and behaviors, and we examine the performance improvement that ensues through a set of controlled user studies. The usability and effectiveness of GSSP are also illustrated using a field demonstration with an aerial robotic vehicle.

Authors

• Jimmy Li 0001
• Anqi Xu 0003
• Gregory Dudek

Keywords

• Programming
• Robot kinematics
• Mobile robots
• Visualization
• Writing
• Joining processes
• State Space
• Robotic Tasks
• Visual Programming
• Graphics Program
• Programming Paradigm
• User Study
• Aerial Vehicles
• Robot Behavior
• Robot Programming
• State Variables
• Sequence Of Actions
• Conflict Resolution
• Unmanned Aerial Vehicles
• Application Programming Interface
• Fuzzy Logic
• State-space Model
• Behavioral Reactions
• Robot Control
• Geometric Constraints
• Expert Users
• Code Blocks
• Program Sessions
• Robot State
• Planning Of Robots
• Home Base
• Robot Operating System
• Function Calls
• Execution Plan
• Global Path
• Battery Level