Imperative Planning Language: From Temporal Representation to Real-Time Execution

摘要

The paper presents a reactive imperative language, allowing a human operator to write plans of actions for dynamic environments, to simulate them, and to execute them on a real-time robot controller. A specification of this language is given in a temporal logic, inspired by representations of action in A.I. planning. The plans are translated into a reactive synchronous language, ESTEREL, for their execution on an Open Robot Controller. Perspectives for the work are situated in generalizing the relation between A.I. planning and temporal reasoning, high-level real-time languages and robot control architectures. (Copyright (c) GMD 1991.)