A Programming Model for Failure-Prone, Collaborative Robots

@inproceedings{beckman-sdir07,
  author = {Beckman, Nels and Aldrich, Jonathan},
  title = {A Programming Model for Failure-Prone, Collaborative
     Robots},
  booktitle = {Workshop on Software Development and Integration in
     Robotics (SDIR)},
  venue = {Workshop on Software Development and Integration in
     Robotics (SDIR)},
  year = {2007},
  month = {April},
  keywords = {Programming Models},
  url = {http://www.cs.cmu.edu/~claytronics/papers/beckman-sdir07.pdf},
  talk = {http://www.cs.cmu.edu/~nbeckman/presentations/failure_prone_collaborative_robots.pdf},
  abstract = {A major problem in programming failure-prone
     collaborative robots is liveness. How do we ensure that the
     failure of one robot does not cause other robots to be
     permanently unavailable if, for example, that robot was a leader
     of others? In this paper, we propose a general mechanism which
     could be added to existing RPC libraries that allows applications
     to detect failure and execute programmer-specified recovery
     code.},
}

@inproceedings{ashley-rollman-derosa-iros07wksp,
  author = {Ashley-Rollman, Michael P. and De~Rosa, Michael and
     Srinivasa, Siddhartha S. and Pillai, Padmanabhan and Goldstein,
     Seth Copen and Campbell, Jason D.},
  title = {Declarative Programming for Modular Robots},
  booktitle = {Workshop on Self-Reconfigurable Robots/Systems and
     Applications at {IROS '07}},
  venue = {Workshop on Self-Reconfigurable Robots/Systems and
     Applications at IROS},
  year = {2007},
  month = {October},
  keywords = {Programming Models, Planning, LDP, Meld},
  abstract = {Because of the timing, complexity, and asynchronicity
     challenges common in modular robot software we have recently
     begun to explore new programming models for modular robot
     ensembles. In this paper we apply two of those models to a
     metamodule-based shape planning algorithm and comment on the
     differences between the two approaches. Our results suggest that
     declarative programming can provide several advantages over more
     traditional imperative approaches, and that the differences
     between declarative programming styles can themselves contribute
     leverage to different parts of the problem domain.},
  url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-derosa-iros07wksp.pdf},
}