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Robotics Research

The ISL web site is maintained by Sean Andersson. Most recent update 03/08/01.

MDLe

The Motion Description Language, extended (MDLe), is a methodology for controlling mobile machines. The idea, an extension of early work by Prof. R. Brockett, was developed by P.S. Krishnaprasad, V. Manikonda, and J. Hendler. To learn about MDLe please get their original paper: We have created an implementation of MDLe and are currently using it as the primary means of control for the robots in our lab. To get a feel you can read the following documents:
    README.zip
    MDLe.pdf.zip
    		The Readme with the install package (a good ref. for the implementation).
    A discussion of the underlying structure (some what old).

Ongoing and future work

  • Add dynamic loading of modules
  • Create full documentation
  • Continue to develop useful atoms, behaviors, and plans
  • Extend MDLe to include stochastic models of the environment and robots