Locomotion functions in the mobile robot language, MML

A few fundamental concepts useful for building a high-level mobile robot language are discussed. The method of describing a vehicle path by a sequence of configurations, the use of coordination transformation (or composition of configurations), and the concept of symmetric configurations are examined, with programming examples and the resultant paths. These concepts are robot independent and can be applied to the kernel of any high-level mobile robot language in the future. These functions have already been successfully implemented in the Model-based Mobile Robot Language (MML).<<ETX>>