A definição de uma linguagem para a programação do comportamento de robôs dentro do contexto da RoboCup

Abstract

The RoboCup Soccer is one of the leagues of the World Cup Robots. It tests the autonomous humanoid robots play football. In 2015, the Taura Bots, robotics team of UFSM, first participated in the competition. Thus arose the possibility of creating a language for programming the robots behavior. There are several problems involving the planning of behavioral techniques. Among them is the little knowledge of the syntax of the languages used at the time, C++ and Python, and how is a football match with official rules. These issues motivated the creation of a specific domain language that offers to users a high level of abstraction, portability and a simple and intuitive syntax. For creating a language is necessary to define its syntax by building a grammar. In the latter determines the set of production rules that will define the generation conditions of the words of the language. In addition, it is necessary to build a parser for validation and a translator for translating between the language created and Python. The objective was to perform all the steps mentioned above, reaching the final result of a language that would program robots behavior tactics playing soccer. The result was satisfactory, considering that the TauraLang, language developed in this project, can be used now in simple behaviors programming and some are already running in the simulator. The language have some issues of portability, but with updates on the grammar to adapt to this current level of the team and the adaptations in the simulator and the real robot becomes possible to transfer the code between the last two.