@inproceedings{derosa-icra08,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '08}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Claytronics, Modular Robotics, Programming, LDP},
title = {Programming Modular Robots with Locally Distributed
Predicates},
year = {2008},
abstract = {We present a high-level language for programming modular
robotic systems, based on locally distributed predicates (LDP),
which are distributed conditions that hold for a connected
subensemble of the robotic system. An LDP program is a collection
of LDPs with associated actions which are triggered on any
subensemble that matches the predicate. The result is a reactive
programming language which efficiently and concisely supports
ensemble-level programming. We demonstrate the utility of LDP by
implementing three common, but diverse, modular robotic tasks.},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra08.pdf},
}