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Enabling Modern Application Development with Swift on the Nao/Pepper Robots

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RoboCup 2021: Robot World Cup XXIV (RoboCup 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13132))

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Abstract

We show the advantages of using Swift as the programming language for behaviours on the Pepper and Nao robots as used with the RoboCup Standard Platform League and the RoboCup@Home - Social Standard Platform. We show that Swift is not only incorporating modern features of object-oriented programming and functional programming, but is also now a stable systems programming language that enables both high-level development as well as fine hardware control. Deterministic memory management makes Swift suitable for real-time, embedded systems, and thus for robotic applications. Moreover, we show in this paper we can apply model-driven software-development by deploying behaviours coded as executable arrangements of logic-labelled finite-state machines (LLFSMs). We also show LLFSMs are not only suitable for reactive architectures, but also for deliberative architectures.

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Notes

  1. 1.

    This formally means that it should be as expressive as a Turing machine, including sequencing, conditionals, and iteration found in most imperative languages [17].

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Author information

Authors and Affiliations

  1. MiPal, Griffith University, Brisbane, QLD, Australia

    Callum McColl, Eugene Gilmore, Morgan McColl & René Hexel

  2. MiPal, Universitat Pompeu Fabra, Barcelona, Spain

    Vladimir Estivill-Castro

Authors
  1. Callum McColl
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  2. Vladimir Estivill-Castro
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  3. Eugene Gilmore
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  4. Morgan McColl
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  5. René Hexel
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Correspondence to Callum McColl .

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Editors and Affiliations

  1. LAAS-CNRS/ANITI, Toulouse, France

    Rachid Alami

  2. The University of Texas at Austin, Austin, TX, USA

    Joydeep Biswas

  3. University of Washington, Seattle, WA, USA

    Maya Cakmak

  4. Western Sydney University, Penrith, NSW, Australia

    Oliver Obst

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McColl, C., Estivill-Castro, V., Gilmore, E., McColl, M., Hexel, R. (2022). Enabling Modern Application Development with Swift on the Nao/Pepper Robots. In: Alami, R., Biswas, J., Cakmak, M., Obst, O. (eds) RoboCup 2021: Robot World Cup XXIV. RoboCup 2021. Lecture Notes in Computer Science(), vol 13132. Springer, Cham. https://doi.org/10.1007/978-3-030-98682-7_2

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  • DOI: https://doi.org/10.1007/978-3-030-98682-7_2

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