Writing Robotics Applications with X-Klaim

Developing robotics applications is a demanding software engineering challenge. Such a software has to perform multiple cooperating tasks in a well-coordinated manner in order to avoid unsatisfactory behavior. In this paper, we define an approach for developing robot software based on the integration of the programming language X-Klaim and the popular robotics framework ROS. X-Klaim is a programming language specifically devised to design distributed applications consisting of software components interacting through multiple distributed tuple spaces. Advantages of using X-Klaim in the robotics domain derive from its high abstraction level, that allows developers to focus on robots’ behavior, and from its computation and communication model, which is especially suitable for dealing with the distributed nature of robots’ architecture. We show the feasibility and the effectiveness of the proposed approach by implementing a scenario involving a robot looking for potential victims in a disaster area.