An Overview of XRobots : A Hierarchical State Machine Based Language

This paper introduces a prototype domain-specific language for programming mobile robots that is based on hierarchical state machines. A novelty of this language is t hat states are treated as first class entities in the language and thus they can be passed as arguments to other parameterized state s. The structure and behavior of the language is presented, alo ng with an example program. Further work and language design challenges are also discussed.

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