Computer Science Department
School of Computer Science, Carnegie Mellon University


A Framework for Programming Embedded Systems:
Initial Design and Results

Sebastian Thrun

October 1998

Keywords: Artificial intelligence, embedded system, machine learning, mobile robots, probabilistic reasoning, programming languages, robotics, teaching

This paper describes CES, a proto-type of a new programming language for robots and other embedded systems, equipped with sensors and actuators. CES contains two new ideas, currently not found in other programming languages: support of computing with uncertain information, and support of adaptation and teaching as a means of programming. These innovations facilitate the rapid development of software for embedded systems, as demonstrated by two mobile robot applications.

47 pages

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