Abstract
This paper presents an approach to developing integrated software for robots in a uniform style of description. First, we introduce a programming style for describing autonomous systems uniformly as platform independent portable modular programs, which is based on BeNet, a real-time parallel computation model, and Java. Then, we propose an approach to developing modifiable modular software for robots in our programming style. In this approach, developers can easily modify and extend an existing information system by adding software modules of two types, Behavior Units (BUs) and Data Holding Objects (DHOs) . Our approach is suitable for building real-time systems for robot behavior control by integrating diverse algorithms for recognition, motion control, planning, learning and communication. By showing how to build an integrated system for a quadruped mobile robot that can communicate with humans, we demonstrate the effectiveness of our approach.
