Dartmouth logo Dartmouth College Computer Science
Technical Report series
CS home
TR home
TR search TR listserv
By author: A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
By number: 2017, 2016, 2015, 2014, 2013, 2012, 2011, 2010, 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2001, 2000, 1999, 1998, 1997, 1996, 1995, 1994, 1993, 1992, 1991, 1990, 1989, 1988, 1987, 1986

An Environment for the Facilitation of Robotic Programming
Artem Lifschitz
Dartmouth PCS-TR99-356


I have developed, tested, and evaluated a robot programming environment organized as a library of flexible data structures to facilitate the creation of robotics programs. Abstractions are the basis of all of the achievements of Computer Science, and if it were possible to create a truly flexible, generic abstraction for the programming of robots -- the science of robotics could advance at a faster pace. For this reason, I have attempted to implement the abstraction of low-level commands, and the assembling of them into hierarchies of higher-level actions. My libraries provide mechanisms for the manipulation and queuing of actions, as well as for the timing of low-level sensing and actuation. I have tested these libraries by implementing a cooperative multi-agent formation algorithm in the SoccerServer environment. Often, when a new level of abstraction is introduced -- significant overhead is added. However, I have conducted experiments to show that there is no significant overhead in using this system by comparing the performance of SoccerServer agents that have been programmed using it against the performance of other agents.

Note: The postscript "paper" is actually a source code listing. The author chose not to release his written thesis as a Technical Report. The work represents an Undergraduate Honors Thesis; Advisor: Daniela Rus.

PS.Z compressed postscript .ps.Z (120KB) , PDF PDF (180KB) (derived from the ps.Z)

Bibliographic citation for this report: [plain text] [BIB] [BibTeX] [Refer]

Or copy and paste:
   Artem Lifschitz, "An Environment for the Facilitation of Robotic Programming." Dartmouth Computer Science Technical Report PCS-TR99-356, June 1999.

Notify me about new tech reports.

Search the technical reports.

To receive paper copy of a report, by mail, send your address and the TR number to reports AT cs.dartmouth.edu

Copyright notice: The documents contained in this server are included by the contributing authors as a means to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Technical reports collection maintained by David Kotz.