Architectures for Autonomy.
We are developing the
Task Description Language (TDL), an extension of
C++ that includes syntax to support task-level control, such as task
decomposition, task synchronization, monitoring and exception handling.
TDL is based on our earlier work on the
Task Control Architecture (TCA), a
general-purpose architecture to support distributed planning, execution,
error recovery, and task management for autonomous systems. TDL and TCA
have been used in over a dozen mobile robot projects at CMU and elsewhere,
including NASA and DARPA. At CMU, current testbeds include
We are currently extending TDL to integrate within a
three-tiered architecture and to handle coordination of multiple robot agents.
We have also developed
IPC a message-based package for inter-process communication. IPC
features anonymous publish-subscribe messages, client-server messages,
automatic serializing and deserializing of message data, including data
containing pointers and variable-length arrays.
Click here for a brief
history of our research in architectures for task-level control.