ALFA: a language for programming reactive robotic control systems

摘要: The author introduces ALFA, a language for programming reactive control mechanisms autonomous mobile robots. ALFA programs consist of networks computational modules connected by communications channels. These channels are themselves entities which perform mediation tasks. This makes it possible to design modular behaviors may be inserted and removed without having restructure the interconnections among allows system interface cleanly with higher-level reasoning processes. supports dataflow computation model as well state-machine model. results two experiments using real robots briefly discussed. >