Task description language for underwater robots

This paper presents task description language (TDL) for underwater robots. General primitives of TDL were designed by considering common primitives of conventional computer languages, and underwater robot-specific command primitives were designed by modifying the turtle graphic commands in Lego. An alias and procedure commands make the TDL intuitive and modular. Concurrent processing and sensor-based event handling commands are also available with TDL. An example of survey task with lawnmower pattern shows feasibility and easiness of TDL.

[1]  S. M. Smith,et al.  Mission command macros for autonomous underwater vehicle , 1999, Oceans '99. MTS/IEEE. Riding the Crest into the 21st Century. Conference and Exhibition. Conference Proceedings (IEEE Cat. No.99CH37008).

[2]  Tony Mason,et al.  Lex & Yacc , 1992 .

[3]  Ratnesh Kumar,et al.  A behavior-based intelligent control architecture with application to coordination of multiple underwater vehicles , 2000, IEEE Trans. Syst. Man Cybern. Part A.

[4]  Christiane Duarte,et al.  Defining a common control language for multiple autonomous vehicle operation , 2000, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158).

[5]  Junku Yuh,et al.  Real-Time Control Architecture for Sauvim 1 , 2003 .