3APL as Programming Language for Cognitive Mobile Robots : implementation, demo, and user guide
Marko Verbeek
The implementation in this project consists of a connection between the
3APL interpreter
and a robot control progam. The connection is made with a Java program that
uses a functionlibrary (ARIA) provided by
ActivMedia Robotics. These functions are used for direct control of the
mobile robot's motors and sensor-units.
The Java program receives a given set of actions generated by the 3APL
interpreter. The actions are executed resulting in robot's movements. Then,
sensor information is gathered and a self-localization algorithm is applied
to calculate the new position of the robot. The calculated position is
returned to the 3APL interpreter, which will set the post-condition (effects)
of the executed motor action. The program waits then for the next action
(for more information on this see the thesis).
The implementation was tested in a software environment and on an
Active Media Pioneer 2 Robot.
The following files related to the implementation are available:
- the program (including 3APL interpreter and robotsimulator)
- user guide with installation instructions
- video of a test run with the Pioneer 2 robot.
The movement behavior of the robot in the video is implemented and controlled by
a 3APL program.