The authors focus on the advantages of concurrent programming for robotics and suggest that a general-purpose language with the right facilities is a good vehicle for robot programming. A discussion is presented of Concurrent C, an upward-compatible extension of the C language that provides high-level concurrent programming facilities. The brief description of Concurrent C is followed by a description of how Concurrent C programs communicate with robots and devices. The authors then show, by means of examples, all of which where implemented, how Concurrent C simplifies the writing of robot programs. Of specific interest are the process interaction and related interrupt handling facilities.
['Ingemar J. Cox', 'Narain H. Gehani']
CONCURRENT C AND ROBOTICS.