Abstract-The management of finite resources is central to many robot behaviors. Some robotic systems must maintain invariants regarding the disposition of feet for balancing, others have grippers for manipulating their environments, while yet others must respect strict rules governing the usage of objects in the environment. Yet the specifics of such resource management responsibilities are almost universally locked behind opaque controllers whose lack of type information greatly impedes rigorous static analysis. We present an application of dependent type theory and linear logic for the static analysis of robot behavior programs that manage both robot and environment state, with a worked assembly task example. This approach offers static, formal guarantees with respect to safety requirements attached to primitive actions, as well as introspection of expected state at each step of a scripted sequence of actions allowing for the automatic generation of dynamic, sensor-based, runtime verification of successful execution.

Abstract-The decomposition of robotics software into a collection of loosely coupled processes has become a core design principle of virtually every large robotics software engineering effort over the past decade. Recently, the ROS software platform from Willow Garage has gained significant traction due to its adoption of sound design principles and significant software library contributions from Willow Garage itself. This paper describes a binding from the Haskell programming language to basic ROS interfaces. The novelty of these bindings is that they allow for, and encourage, a higher level of abstraction in writing programs for robots that treat streams of values as firstclass citizens. This approach makes the fusing, transforming, and filtering of streams fully generic and compositional while maintaining full compatibility with the existing ROS ecosystem.