TY - GEN
T1 - Controlling logistics robots with the action-based language YAGI
AU - Ferrein, Alexander
AU - Maier, Christopher
AU - Mühlbacher, Clemens
AU - Niemueller, Tim
AU - Steinbauer, Gerald
AU - Vassos, Stavros
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84981216527&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-43506-0_46
DO - 10.1007/978-3-319-43506-0_46
M3 - Conference paper
AN - SCOPUS:84981216527
SN - 978-3-319-43505-3
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 525
EP - 537
BT - Intelligent Robotics and Applications
PB - Springer Verlag
T2 - 9th International Conference on Intelligent Robotics and Applications, ICIRA 2016
Y2 - 22 August 2016 through 24 August 2016
ER -