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A DSL for the visualization of Multi-Robot Systems






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    A DSL for the visualization of Multi-Robot Systems A DSL for the visualization of Multi-Robot Systems Presentation Transcript

    • A DSL for the visualization of Multi- Robot Systems Alexandre Bergel (PLEIAD, University of Chile), Serge Stinckwich (IRD,Vietnam)
    • Problem statement • Visualization as an aid to design complex multi-robots algorithms • Express what need to be visualize in the context of the domain of the user (robotics experts here) and in a declarative way • Adapt the visualization&model during the simulation (aka. exploratory modeling)
    • Mondrian • Interactive information visualization engine • Visualizations can be specified by script • Embedded Domain-Specific Language (Smalltalk is the host language) • Drawback: only static structure
    • From Mondrian to Calder
    • Calder: DSL for MRS visualization • Visualize dynamic structures (graphs) dynamically and interactively • Interact with individuals nodes and graph as a whole • Currently applied to multi-robot systems
    • Smalltalk syntax in a nutshell • Everything is an object • All the computation is done through objects sending messages to other objects • 4 types of expressions: literals, variables, messages and blocks, 11 AST nodes • Easy to build new DSL + tools to design your own syntax (Helvetia)
    • Message sending • Unary message: view treeLayout • Binary message: 2+3 • Keywords message: myArray at: 1 put: 5
    • Blocks • [3+4] • [:x | x +1] • [:x | x +1 ] value: 3 => 4
    • Basic Mondrian vocabulary • Nodes • Edges • Layout • Shapes
    • view nodes: classes. view edges: classes from: [:each | each superclass] to: [:each | each]. view treeLayout.
    • view nodes: classes. view shape rectangle height:[:each | each numberOfMethods]. view edges: classes from:[:each | each superclass] to:[:each | each]. view treeLayout.
    • Demonstration 1
    • Application: visualization of MRS coverage algorithms Nikolaus Corell, Jonathan Bachrach, Daniel Vickery and Daniela Rus, “Ad-hoc Wireless Network Coverage with Networked Robots that Cannot Localize”, ICRA’09, Kobe, Japan
    • Demonstration 2
    • Conclusion&perspectives • More general than just robotics: can be used to visualize every dynamic graph of objects • At the moment, only visualization. Behaviour of robots can’t be changed very easily. • Construct a vocabulary suitable to MRS visualization (motion, perception, ...) in an iterative way • Connect to a real robotic simulation engine