An XML-based Scripting Language for Chain-type Modular Robotic Systems

A number of modular robotic systems have been developed over the last decade. Such systems promise increased flexibility and robustness and lower cost over conventional robots; however programming systems with many degrees of freedom is still more an art than engineering. The complexity of programming limits the usage of such systems and the sharing of knowledge within the modular robotics community. We have previously published work on using “Phase Automata” as a programming model for chain-type modular robotic systems. In this paper, we present an XML-based scripting language for describing phase automata and complex behavior compositions.

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