XABSL - A Pragmatic Approach to Behavior Engineering

Loetzsch, Martin; Risler, Max; Jüngel, Matthias

doi:10.1109/iros.2006.282605

Cited by 70 publications

(49 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A number of formal specification methods for programming robot and agent behaviors efficiently have been proposed and applied like the Behavior Language [4], the Reactive Plan Language [3], the Configuration Description Language [21], the Planning Domain Definition Language [22], the Task Description Language [32], COLBERT [17], Petri Net Plans [37] and the Extended Behavior Programming Language (XABSL) [20,30,31]. However, most of them do not meet all of the requirements mentioned above.…”

Section: Behavior Modeling Programming and Controlmentioning

confidence: 99%

“…Several of the mentioned specification methods are based on finite state machines or make use of them, e.g. [4,17,20,30].…”

Section: Behavior Modeling Programming and Controlmentioning

confidence: 99%

“…In this paper XABSL [20,30] is applied for behavior modeling, programming and control of heterogeneous multi-robot teams. XABSL is based on hierarchical state machines, enables deliberative as well as reactive behavior control paradigms and was developed to meet the above mentioned requirements [30].…”

Section: Behavior Modeling Programming and Controlmentioning

confidence: 99%

See 2 more Smart Citations

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Kiener

Stryk

2010

Robotics and Autonomous Systems

View full text Add to dashboard Cite

In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.

show abstract

Section: Behavior Modeling Programming and Controlmentioning

confidence: 99%

“…Several of the mentioned specification methods are based on finite state machines or make use of them, e.g. [4,17,20,30].…”

Section: Behavior Modeling Programming and Controlmentioning

confidence: 99%

See 1 more Smart Citation

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Kiener

Stryk

2010

Robotics and Autonomous Systems

View full text Add to dashboard Cite

show abstract

“…For a rough comparison the required behavior control of the soccer-playing autonomous humanoid robots requires more than 120 hierarchically organized state machines (realized in XABSL [4]). By contrast the behavior of an autonomous car participating in the DARPA Urban Challenge typically consisted of only a dozen state-machines.…”

Section: Example Scenariosmentioning

confidence: 99%

“…The functional components vary based on the targeted objectives but cover different approaches for processing and filtering sensor data, self localization and mapping and behavior [4] and motion control. Each scenario has its own focus but since the requirements are continuously increasing the robot application software become more and more complex.…”

Section: Introductionmentioning

confidence: 99%

Efficient communication in autonomous robot software

Thomas

Stryk

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-Software for autonomous robots solving challenging tasks in research or application is becoming increasingly complex. System integration has to deal with various different functional components. To decouple those components from each other and to enable a modular and reuseable software architecture a robot middleware is typically used. But this intermediate layer introduces significant additional overhead during run-time. In this work a methodology is described to utilize specific application characteristics to improve communication efficiency between different robot software modules. By composing several components in a single thread memory copying or locking operations can be avoided, when data is exchanged between those parts. The optimization can be achieved without compromising the advantages of a communication layer. Still the modifications are transparent to the maybe already existing components. Experimental results in the scenario of autonomous soccer-playing humanoid robots are presented and exhibit remarkable reduction in communication overhead. Furthermore this approach can be implemented in or on-top of other communication layers.

show abstract

CABSL – C-Based Agent Behavior Specification Language

Röfer

2018

RoboCup 2017: Robot World Cup XXI

View full text Add to dashboard Cite

XABSL - A Pragmatic Approach to Behavior Engineering

Abstract: Abstract-This paper introduces the

Cited by 70 publications

References 17 publications

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Efficient communication in autonomous robot software

CABSL – C-Based Agent Behavior Specification Language

Contact Info

Product

Resources

About