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arXiv · 1803.00944

Dolphin: a task orchestration language for autonomous vehicle networks

Keila Lima·Eduardo R. B. Marques·José Pinto·João B. Sousa
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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).

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Keila Lima, Eduardo R. B. Marques, José Pinto, João B. Sousa. 2018-03-02. Dolphin: a task orchestration language for autonomous vehicle networks. https://arxiv.org/abs/1803.00944

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