Extending the kouretes statechart editor for generic agent behavior development

Abstract

The development of high-level behavior for autonomous robots is a time-consuming task even for experts. The Kouretes State-chart Editor (KSE) is a Computer-Aided Software Engineering (CASE) tool, which allows to easily specify a desired robot behavior as a sta-techart model utilizing a variety of base robot functionalities (vision, localization, locomotion, motion skills, communication) for the Monas robotic software architecture framework. This paper presents an extension to KSE, which allows defining generic agent behaviors using automatic framework-independent code generation, as long as the underlying framework is written in C++. This way a user can program physical (robots) or software agents that can be executed on any platform using any compatible software framework. This paper demonstrates the transparent use of the extended KSE in the SimSpark 3D soccer simulation and the Wumpus world.