a dsl for the visualization of multi-robot systems
DESCRIPTION
TRANSCRIPT
![Page 1: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/1.jpg)
A DSL for the visualization of Multi-
Robot SystemsAlexandre Bergel (PLEIAD, University of Chile), Serge
Stinckwich (IRD, Vietnam)
![Page 2: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/2.jpg)
Problem statement
• Visualization as an aid to design complex multi-robots algorithms
• Express what need to be visualize in the context of the domain of the user (robotics experts here) and in a declarative way
• Adapt the visualization&model during the simulation (aka. exploratory modeling)
![Page 3: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/3.jpg)
![Page 4: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/4.jpg)
Mondrian
• Interactive information visualization engine
• Visualizations can be specified by script
• Embedded Domain-Specific Language (Smalltalk is the host language)
• Drawback: only static structure
![Page 5: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/5.jpg)
From Mondrian to Calder
![Page 6: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/6.jpg)
Calder: DSL for MRS visualization
• Visualize dynamic structures (graphs) dynamically and interactively
• Interact with individuals nodes and graph as a whole
• Currently applied to multi-robot systems
![Page 7: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/7.jpg)
Smalltalk syntax in a nutshell
• Everything is an object
• All the computation is done through objects sending messages to other objects
• 4 types of expressions: literals, variables, messages and blocks, 11 AST nodes
• Easy to build new DSL + tools to design your own syntax (Helvetia)
![Page 8: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/8.jpg)
Message sending
• Unary message: view treeLayout
• Binary message: 2+3
• Keywords message: myArray at: 1 put: 5
![Page 9: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/9.jpg)
Blocks
• [3+4]
• [:x | x +1]
• [:x | x +1 ] value: 3 => 4
![Page 10: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/10.jpg)
Basic Mondrian vocabulary
• Nodes
• Edges
• Layout
• Shapes
![Page 11: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/11.jpg)
view nodes: classes.view edges: classes
from: [:each | each superclass]to: [:each | each].
view treeLayout.
![Page 12: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/12.jpg)
view nodes: classes.view shape rectangle
height:[:each | each numberOfMethods].
view edges: classesfrom:[:each | each superclass]to:[:each | each].
view treeLayout.
![Page 13: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/13.jpg)
Demonstration 1
![Page 14: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/14.jpg)
Application: visualization of MRS coverage algorithms
Nikolaus Corell, Jonathan Bachrach, Daniel Vickery and Daniela Rus, “Ad-hoc Wireless Network Coverage with Networked Robots that Cannot Localize”, ICRA’09, Kobe, Japan
![Page 15: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/15.jpg)
Demonstration 2
![Page 16: A DSL for the visualization of Multi-Robot Systems](https://reader033.vdocuments.site/reader033/viewer/2022051411/547ea760b4af9faa158b56cf/html5/thumbnails/16.jpg)
Conclusion&perspectives
• More general than just robotics: can be used to visualize every dynamic graph of objects
• At the moment, only visualization. Behaviour of robots can’t be changed very easily.
• Construct a vocabulary suitable to MRS visualization (motion, perception, ...) in an iterative way
• Connect to a real robotic simulation engine