HAL Id: hal-01972550
https://hal.laas.fr/hal-01972550
Submitted on 7 Jan 2019
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PRS: a high level supervision and control language for
autonomous mobile robots
Félix Ingrand, Raja Chatila, Rachid Alami, F. Robert
To cite this version:
Félix Ingrand, Raja Chatila, Rachid Alami, F. Robert. PRS: a high level supervision and control language for autonomous mobile robots. EEE International Conference on Robotics and Automation, 1996, Minneapolis, United States. �hal-01972550�
Invocation Part:
Invocation Part: (overpressurized FRCS)
(! (position valve close)) (soak ka1 ka4)
Invocation Part: (pressurization-alarm)
Plans/Scripts/Procedures Library
KA 1
(soak <Ka-7> <Ka-3>)
KA 2
(! (position valve close))
KA 3 (position tb bp) KA 4 KA 5 (Alarm) S W 7 Tasks Graph New goals & new facts
Procedure Execution External events
Posting new subgoal
Triggering andUnification
Select and intend procedure(s) Execute the roots of the task graph
Primitive action 1 2 3 6 5 4 Posting MetaFacts
(position valve op) or Action KA: (signal switch s1) Graph KA: Invocation Part: (overpressurized $x) Invocation Part: (! (position switch $x)) Action Part: (signal switch $x) Invocation Part: (! (position valve $x)) KA 6 (alarm) Body: ((? (connected $x $y)) (while (?( > (pressure-of $x) 20))
