Live Robot Programming - esug.orgesug.org/data/ESUG2015/1 monday/1100-1230 Live robotic...

Live Robot Programming

Johan Fabry,Miguel Campusano, Pablo Estefó

Pleiad & RyCh labsComputer Science Department (DCC)

Universidad de Chile

Two small stories

Software is fundamental

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Good Softwareis fundamental

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Software Engineering

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Time=

Money

Software Engineering

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Time=

Research

Software Engineering

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Time =

Brainpower

Software Engineering

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Brainpower =Problem complexity + Technology complexity

What do we want?

Waste less time in incidental complexity

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Use time on fundamental complexity

“But why is the robot executing this behavior now?”

Example

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“What would happen if I change epsilon to 5 ?”

(What is the internal state of the algorithm)

(What are the correct parameters for the algorithm)

Spend brainpower on the complexity of the task

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Have an immediate connection to the

behavior

Live Programming

Bret Victor - Inventing on Principle (CUSEC 2012)

Immediate Connection

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Bret Victor - Inventing on Principle (CUSEC 2012)

Immediate Connection

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Live Robot Programming

Fundamentals

• Live Programming Language

• For the behavior layer of robots

• Nested State Machines

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Machines, States

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Immediate Connection

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Variables, Actions

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Demo time!

Immediate Connection

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More about the language in the paper

on the website.http://pleiad.cl/LRP

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Conclusions

• Live Robot Programming: Yes you can!

• State machines are resilient

• Experience: radical speedup

Immediate Connection

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Future Work

• Refactorings to avoid restarts

• Test expressibility of the language

• Modularity and reuse of behaviors

http://pleiad.cl/LRP

Active State

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Active State

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Immediate Connection

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