Abstract

. We present our experiences using a purely functional language, Haskell, in what has been traditionally the realm of low-level languages: robot control. Frob (Functional Robotics) is a domain-specific language embedded in Haskell for robot control. Frob is based on Functional Reactive Programming (FRP), as initially developed for Fran, a language of reactive animations. Frob presents the interaction between a robot and its stimuli, both onboard sensors and messages from other agents, in a purely functional manner. This serves as a basis for composable high level abstractions supporting complex control regimens in a concise and reusable manner. 1 Introduction Robotics is a an excellent problem domain to demonstrate the power and flexibility of declarative programming languages. Among the more interesting problem areas in this domain are control systems, constraint solving, reactive programming, sensor fusion, and real-time control. We have developed Frob (for Functional Robotics) as ...

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