Controlling logistics robots with the action-based language YAGI

Alexander Ferrein*, Christopher Maier, Clemens Mühlbacher, Tim Niemueller, Gerald Steinbauer, Stavros Vassos

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


To achieve any meaningful tasks, a robot needs some form of task-level executive which acquires knowledge, reasons or plans, and performs and monitors actions. A formal approach for such agent programming is the Golog agent programming language. Golog is based on a first-order logic representation, and a drawback of common implementations is that in order to program agents, also knowledge of Prolog functionality is typically needed. In this paper, we present a prototype implementation of YAGI, a language rooted in Golog that offers a practical subset of the rich Golog framework in a more familiar syntax. Bridging imperative-style programming with an action-based specification, YAGI is more accessible to developers and provides a better ground for robot task-level executives. Moreover, we developed bindings for popular robotics frameworks such as ROS and Fawkes. As a proof of concept we present a YAGI-based agent for the RoboCup Logistics League which shows the expressiveness and the possibility to easily embed YAGI into robot applications.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications
Subtitle of host publication9th International Conference, ICIRA 2016, Proceedings
PublisherSpringer Verlag
Number of pages13
ISBN (Print) 978-3-319-43505-3
Publication statusPublished - 2016
Event9th International Conference on Intelligent Robotics and Applications, ICIRA 2016 - Tokyo, Japan
Duration: 22 Aug 201624 Aug 2016

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)03029743
ISSN (Electronic)16113349


Conference9th International Conference on Intelligent Robotics and Applications, ICIRA 2016

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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