Specifying Behavior in C++

Most robot programming takes place in the “time domain.” That is, the goal is to specify the behavior of a system that is acquiring a continual temporal stream of inputs, and is required to provide a continual, temporal stream of outputs. We present a reactive programming language, based on the Functional Reactive Programming paradigm, for specifying such behavior. The major attributes of this language are: 1) it provides for both synchronous and asynchronous definitions of behavior, 2) specification is equational in nature, 3) it is type safe, and 4) it is embedded in C++. In particular the latter makes it simple to “lift” existing C++ libraries into the language.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Xiangtian Dai, Gregory D. Hager, John Peterson
• Keywords: Continual Temporal Stream, ICRA 2002, Reactive Programming, Robotics, Temporal Stream