A Task Grammar Approach to the Structure and Analysis of Robot Programs

摘要

THIS PAPER DESCRIBES A FORMAL REPRESENTATION FOR THE STRUCTURE AND CONTEXT OF A ROBOT TASK. THE PRINCIPAL OBJECTIVE OF THE REPRESENTATION IS TO ALLOW THE ANALYSIS OF ROBOT TASK DESCRIPTIONS FOR CORRECTNESS. THE IMPORTANCE OF HAVING AN EXPLICIT REPRESENTATION OF A TASK AND ITS STRUCTURE IN ADDITION TO AN OBJECT REPRESENTATION IS EMPHASIZED. A FORMAL-LANGUAGES APPROACH IS USED TO EXPRESS TASK STRUCTURE. ALTHOUGH AN INFORMAL SEMANTICS OF TASK REPRESENTATION IS USED IN THIS PAPER, WE DISCUSS THE USE OF A FORMAL SEMANTICS IN THE FINAL SECTION.