Dolphin: A Task Orchestration Language for Autonomous Vehicle Networks
Keila Lima, Eduardo R.B. Marques, José Pinto, João B. Sousa
Abstract
We present Dolphin, an extensible programming language for autonomous vehicle networks. A Dolphin program expresses an orchestrated execution of tasks defined compositionally for multiple vehicles. Building upon the base case of elementary one-vehicle tasks, the built-in operators include support for composing tasks in several forms, for instance according to concurrent, sequential, or event-based task flow. The language is implemented as a Groovy DSL, facilitating extension and integration with external software packages, in particular robotic toolkits. The paper describes the Dolphin language, its integration with an open-source toolchain for autonomous vehicles, and results from field tests using unmanned underwater vehicles (UUVs) and unmanned aerial vehicles (UAVs).
BibTeX
@inproceedings{iros2018_dolphinataskorch,
title = {Dolphin: A Task Orchestration Language for Autonomous Vehicle Networks},
author = {Keila Lima and Eduardo R.B. Marques and José Pinto and João B. Sousa},
booktitle = {IROS 2018},
year = {2018}
}