Specifying behavior in C++

Xiangtian Dai, Gregory Hager, John Peterson

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


Most robot programming takes place in the "time domain". That is, the goal is to specify the behavior of a system that is acquiring a continual temporal stream of inputs, and is required to provide a continual, temporal stream of outputs. We present a reactive programming language, based on the Functional Reactive Programming paradigm, for specifying such behavior. The major attributes of this language are: 1) it provides for both synchronous and asynchronous definitions of behavior, 2) specification is equational in nature, 3) it is type safe, and 4) it is embedded in C++. In particular the latter makes it simple to "lift" existing C++ libraries into the language.

Original languageEnglish (US)
Pages (from-to)153-160
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - May 2002

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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