Towards Python-based Domain-specific Languages for Self-reconfigurable Modular Robotics Research
This work addresses software complexity for researchers in modular robotics, but it is incremental as it builds on existing operating systems and languages.
The paper tackles the challenge of software development for self-reconfigurable modular robots by proposing a Python-based system for the ATRON II platform, resulting in improved software abstraction and portability with features like transparent socket communication and reliable module-to-module communication.
This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable robotics and describe the development of a software system for ATRON II which utilizes Linux and Python to significantly improve software abstraction and portability while providing some basic features which could prove useful when using Python, either stand-alone or via a DSL, on a self-reconfigurable robot system. These features include transparent socket communication, module identification, easy software transfer and reliable module-to-module communication. The end result is a software platform for modular robots that where appropriate builds on existing work in operating systems, virtual machines, middleware and high-level languages.