2P1-H12 アスペクト指向を用いて横断知識を記述するロボット行動フレームワーク(空間知)

抄録

Robot action framework using aspect oriented concept is proposed to cope with cross-cutting concerns in robot tasks. The knowledge for concerned objects is built into the objects themselves, but the knowledge for cross-cutting concerns is written in "aspects." For example, exceptions, such as obstacle avoidance, are one of such cross-cutting knowledge. This framework makes robot software easy to be maintained and reused.