A DSL for the
visualization of Multi-
Robot Systems
Alexandre Bergel (PLEIAD, University of Chile), Serge
Stinckwich (IRD,...
Problem statement
• Visualization as an aid to design complex
multi-robots algorithms
• Express what need to be visualize ...
Mondrian
• Interactive information visualization engine
• Visualizations can be specified by script
• Embedded Domain-Speci...
From Mondrian to Calder
Calder: DSL for
MRS visualization
• Visualize dynamic structures (graphs)
dynamically and interactively
• Interact with in...
Smalltalk syntax in a
nutshell
• Everything is an object
• All the computation is done through
objects sending messages to...
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 su...
Demonstration 1
Application: visualization of
MRS coverage algorithms
Nikolaus Corell, Jonathan Bachrach, DanielVickery and Daniela
Rus,“A...
Demonstration 2
Conclusion&perspectives
• More general than just robotics: can be used to
visualize every dynamic graph of objects
• At th...
A DSL for the visualization of Multi-Robot Systems
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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

  1. 1. A DSL for the visualization of Multi- Robot Systems Alexandre Bergel (PLEIAD, University of Chile), Serge Stinckwich (IRD,Vietnam)
  2. 2. 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)
  3. 3. Mondrian • Interactive information visualization engine • Visualizations can be specified by script • Embedded Domain-Specific Language (Smalltalk is the host language) • Drawback: only static structure
  4. 4. From Mondrian to Calder
  5. 5. 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
  6. 6. 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)
  7. 7. Message sending • Unary message: view treeLayout • Binary message: 2+3 • Keywords message: myArray at: 1 put: 5
  8. 8. Blocks •[3+4] •[:x | x +1] •[:x | x +1 ] value: 3 => 4
  9. 9. Basic Mondrian vocabulary • Nodes • Edges • Layout • Shapes
  10. 10. view nodes: classes. view edges: classes from: [:each | each superclass] to: [:each | each]. view treeLayout.
  11. 11. view nodes: classes. view shape rectangle height:[:each | each numberOfMethods]. view edges: classes from:[:each | each superclass] to:[:each | each]. view treeLayout.
  12. 12. Demonstration 1
  13. 13. Application: visualization of MRS coverage algorithms Nikolaus Corell, Jonathan Bachrach, DanielVickery and Daniela Rus,“Ad-hoc Wireless Network Coverage with Networked Robots that Cannot Localize”, ICRA’09, Kobe, Japan
  14. 14. Demonstration 2
  15. 15. 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

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