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Abstract
As robots and their applications become an essential part of our lives, many people are now involved in the process of designing a control software for such robots, starting from school students going though control engineers, scientists, hobbyist, even target customer should be able soon to write his own control software for his personal robot. The lack of open standards for robot hardware and software implies increasing costs of robot production and decreasing quality of end-user experience. Indeed, the variety and complexity of different hardware and software interfaces in modern robotics may account for some of the disappointments on the pace of adoption of robots into human environments. This thesis proposes the specifications and definitions of a proposed Unified Control Language for Robots (R-UCL). R-UCL is based on C- language syntax with adding conceptual definition for robots ([Objective], [Algorithm], [Rule], [Monitor] and [Component]). These conceptual definitions are integrated to work coherently, transparently and cooperatively together by the assistance of the Control Engine (CE). [Algorithms] are assigned to an [Objective] to achieve, [Components] are defined to represent robot hardware. [Rules] are defined to handle robot behavior and thresholds robot should not exceed. [Monitors] are defined and assigned to [Objectives], [Algorithms], [Rules] and [Components] to orchestrate between them and provide a rich debugging environment. An implementation for the Language Control Engine is carried out in a simulated environment to provide results. These results are compared with results for the same robot controlled with traditional control strategies. Major advantages appeared in using R-UCL including the following: Simplicity of writing control algorithms. The possibility for more than one team to write multiple algorithms simultaneously.