Programming of robot and team behavior using discrete, hierarchical state automata
The Extensible Agent
Behavior Specification Language (XABSL) is a pragmatic
tool for engineering the behavior of autonomous agents in complex and dynamic
environments. It is based on hierarchies of finite state machines (FSM) for
action selection and supports the design of longterm and deliberative
decision processes as well as of short-term and reactive behaviors.
A platform-independent execution engine
makes the language applicable on any robotic platform and together
with a variety of visualization, editing and debugging tools,
XABSL is a convenient and powerful system for the development
of complex behaviors.
The complete source code can be freely
downloaded from the XABSL website.
The language has been successfully applied
on many robotic platforms, mainly in the domain of RoboCup
robot soccer. It gave the GermanTeam the crucial advantage over
other teams to become the 2004 and 2005 world champion in
the Four-Legged League and helped the team CoPS Stuttgart in the Middle Size
become third in 2004 and second in 2006.