Stream-oriented robotics programming: The design of roshask

Cowley,; Taylor, Chris

doi:10.1109/iros.2011.6048682

Cited by 4 publications

(4 citation statements)

References 8 publications

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“…Eminently practicable functional programming environments have been developed for popular contemporary robot operating systems (232), and increasingly powerful autonomous high-level task planners have been built with more formal versions of such tools (233). It remains to exercise them with physically grounded categorically generated type theories (Section C.2.3.2).…”

Section: Grounded Type Theorymentioning

confidence: 99%

What Is Robotics? Why Do We Need It and How Can We Get It?

Koditschek

2021

Annu. Rev. Control Robot. Auton. Syst.

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Robotics is an emerging synthetic science concerned with programming work. Robot technologies are quickly advancing beyond the insights of the existing science. More secure intellectual foundations will be required to achieve better, more reliable, and safer capabilities as their penetration into society deepens. Presently missing foundations include the identification of fundamental physical limits, the development of new dynamical systems theory, and the invention of physically grounded programming languages. The new discipline needs a departmental home in the universities, which it can justify both intellectually and by its capacity to attract new diverse populations inspired by the age-old human fascination with robots. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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Section: Grounded Type Theorymentioning

confidence: 99%

What Is Robotics? Why Do We Need It and How Can We Get It?

Koditschek

2021

Annu. Rev. Control Robot. Auton. Syst.

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“…There are two parts to this task -(i) integrating the Robot Operating System (ROS) [33] with better support for functional programming in general and linear dependent types in particular, and (ii) completing the formalization of the algorithm in Figure 6. For the first task, one approach would be to use ideas from RosHask [12] to call ROS from Haskell [21], and either embed a linear dependent language in Haskell or follow Agda's approach to foreign function interface to Haskell [31]. For the second task, the main obstacle is the reliance of the proof of safety on basic Euclidean geometry which requires some effort to formalize.…”

Section: Future Workmentioning

confidence: 99%

Hybrid dynamical type theories for navigation

Gustafson¹,

Culbertson²,

Koditschek³

2021

Preprint

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We present a hybrid dynamical type theory equipped with useful primitives for organizing and proving safety of navigational control algorithms. This type theory combines the framework of Fu-Kishida-Selinger for constructing linear dependent type theories from state-parameter fibrations with previous work on categories of hybrid systems under sequential composition. We also define a conjectural embedding of a fragment of linear-time temporal logic within our type theory, with the goal of obtaining interoperability with existing stateof-the-art tools for automatic controller synthesis from formal task specifications. As a case study, we use the type theory to organize and prove safety properties for an obstacle-avoiding navigation algorithm of Arslan-Koditschek as implemented by Vasilopoulos. Finally, we speculate on extensions of the type theory to deal with conjugacies between model and physical spaces, as well as hierarchical template-anchor relationships.

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“…In FRP, time is typically explicit and conceptually continuous; the execution of the system is then carried out by sampling all streams synchronously at the rate of an external and global clock. The ROSHASK [25] Haskell ROS library promotes the modularity and expressiveness of FRP, while remaining faithful to the asynchronous nature of ROS, by adopting a more pragmatic approach centered on manipulating asynchronous topics in their entirety.…”

Section: Functional Reactive Programming Languagesmentioning

confidence: 99%

“…The ROSHASK library [25] enables ROS programming within the Haskell ecosystem by supporting the deployment of ROS client nodes that are compatible with the rostcp communications protocol. ROSHASK fades the architectural boundaries between ROS system and software components, by lifting topics to first-class values and designing a collection of FRP-style combinators to split, fuse and generally manipulate topics in a more expressive, modular and compositional way.…”

Section: A Haskell Ros Librarymentioning

confidence: 99%

Rosy: An elegant language to teach the pure reactive nature of robot programming

Pacheco

Macedo

2021

IJRC

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Robotics is very appealing and is long recognized as a great way to teach programming, while drawing inspiring connections to other branches of engineering and science such as maths, physics or electronics. Although this symbiotic relationship between robotics and programming is perceived as largely beneficial, educational approaches often feel the need to hide the underlying complexity of the robotic system, but as a result fail to transmit the reactive essence of robot programming to the roboticists and programmers of the future. This paper presents Rosy, a novel language for teaching novice programmers through robotics. Its functional style is both familiar with a high-school algebra background and a materialization of the inherent reactive nature of robotic programming. Working at a higher-level of abstraction also teaches valuable design principles of decomposition of robotics software into collections of interacting controllers. Despite its simplicity, Rosy is completely valid Haskell code compatible with the ROS~ecosystem. We make a convincing case for our language by demonstrating how non-trivial applications can be expressed with ease and clarity, exposing its sound functional programming foundations, and developing a web-enabled robot programming environment.

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Stream-oriented robotics programming: The design of roshask

Cited by 4 publications

References 8 publications

What Is Robotics? Why Do We Need It and How Can We Get It?

What Is Robotics? Why Do We Need It and How Can We Get It?

Hybrid dynamical type theories for navigation

Rosy: An elegant language to teach the pure reactive nature of robot programming

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