Design of a Mobile Robot Controller Using Esterel Tools

Robot controllers are often programmed using either standard sequential programming languages or a robot-specific language, which are then compiled to assembly language specific to the robot. Modern real-time programming languages, on the other hand, are more appropriate to program robots, as they better fit the real-time reactive model of robots. This paper reports on a project to program a non-trivial robot, the Rug Warrior, in the Artificial Intelligence Laboratory of UNSW, using Esterel, which is a real-time programming language. The approach is illustrated by simulation of a colony of Siberian ants using a group of Rug Warriors.