T.R.I.D.ET.R.I.D.E

Simon Overell (seo01)

Supervisor: Keith Clark

Introduction

• Motivation

• Teleo Reactive ProgramsK1 -> A1

K2 -> A2

…

Ki -> Ai

…

Kn -> An

• Lego Mindstorms

The Project

• The Language Definition• An Application - TRIDE• Behaviours

Language Definition

• The Need for a Language Definition

• Extensions

• Syntax

• Semantics– Unique Names Definition– Object Stores– Look up Functions– Operational Semantics

TRIDE

• The Paradigm

• The Programming Windows– Sensor and Output Definitions– Peas Panel– The TR Panel– The Native Code Panel

DEMODEMO Help Window

Sensor and Outputs DefinitionPEAS Panel

TR Panel

• Abstraction from the Percepts and Actions

• Concise Behaviour Definitions

• Key word highlighting and Programming buttons

DEMODEMOTR Panel

Native Code Panel

• TRIDE pre-processes the Peas Panel and TR panel

• Native code can be generated in NQC, LeJOS or TEA

• Errors during compilation are displayed in the Error window

DEMODEMONative Code Panel

Error Window

Multi Platform

• Multiple Native Languages– NQC– LeJOS– TEA

• Multiple Robots– Garcia– RCX

• Multiple Interface Software

DEMODEMOThe Garcia

Light Follower

TRIDE Implementation

• Encapsulation

• Packages– Native Interface– Compiler– XML Interface– GUI

• Help Menu

Behaviours

• Range of Behaviours– Garbage Collection– Searching– Co-operating– Learning

DEMODEMO Complex Line Follower

Searching VIDEO

Communication

• The original TR definitions and examples did not contain communication

• Agent - Agent Communication

• Agent - Computer Communication

Debugging

• Debugging through the IR Tower

• User Interactions– Break Points– Debug Controls– Current Executing Line Highlighted

DEMODEMODebugger

Extensions

• Wireless Debugging

• Wireless Communications

• Multi Threaded TR Programs

• Simulator

• Evolving Behaviour

Further Work

• An Open Source Project Web Page• A Publishable Paper

Questions

www.doc.ic.ac.uk/~seo01/TRIDE