Property Mapping: A Simple Technique for Mobile Robot Programming

Illah R. Nourbakhsh, Carnegie Mellon University

In this paper we turn to the mobile robot programming problem, which is a software engineering challenge that is not easily conquered using contemporary software engineering best practices. We propose robot observability as a measure of the diagnostic transparency of a situated robot program, then describe property mapping as a simple language-independent approach to implementing reliable robot programs by maximizing robot observability. Examples from working real-world robots are given in Lisp and Java.

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