Programming Modular Robots with Locally Distributed Predicates

@article{bourgeois-IEEESystems14,
  author = {Bourgeois, Julien and Goldstein, Seth Copen},
  title = {Distributed Intelligent {MEMS}: Progresses and
     Perspectives},
  journal = {IEEE Systems Journal},
  volume = {*},
  number = {*},
  pages = {***--***},
  doi = {*},
  year = {2014},
  keywords = {Claytronics},
}

@inproceedings{bourgeois-ict11,
  author = {Bourgeois, Julien and Goldstein, Seth Copen},
  title = {Distributed Intelligent {MEMS}: Progresses and
     Perspectives},
  booktitle = {ICT Innovations 2011},
  pages = {15--25},
  series = {Advances in Intelligent and Soft Computing},
  volume = {150},
  isbn = {978-3-642-28663-6},
  editor = {Kocarev, Ljupco},
  address = {Ohrid, Macedonia},
  publisher = {Springer},
  year = {2012},
  note = {Keynote talk at the ICT Innovations 2011 conference},
  keywords = {Claytronics},
}

@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},
}

@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},
}

@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},
}

@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},
}

@article{funiak-ijrr08,
  author = {Funiak, Stanislav and Pillai, Padmanabhan and
     Ashley-Rollman, Michael P. and Campbell, Jason D. and Goldstein,
     Seth Copen},
  title = {Distributed Localization of Modular Robot Ensembles},
  journal = {International Journal of Robotics Research},
  keywords = {Localization, Modular Robotics},
  volume = {28},
  number = {8},
  year = {2009},
  pages = {946-961},
}

@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},
}