ConCodeIt! A Comparison of Concurrency Interfaces in Block-Based Visual Robot Programming

M. Chung, Mino Nakura, Sai Harshita Neti, Anthony Lu, Elana Hummel, M. Cakmak
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引用次数: 1

Abstract

Concurrency makes robot programming challenging even for professional programmers, yet it is essential for rich, interactive social robot behaviors. Visual programming aims to lower the barrier for robot programming but does not support rich concurrent behavior for meaningful robotics applications. In this paper, we explore extensions to block-based visual languages to enable programming of concurrent behavior with (1) asynchronous procedure calls, which encourage imperative programming, (2) callbacks, which encourage event-driven programming, and (3) promise, which also encourages imperative programming by providing event synchronization utilities. We compare these approaches through a systematic analysis of social robot programs with representative concurrency patterns, as well as a user study (N=23) in which participants authored such programs. Our work identifies characteristic differences between these approaches and demonstrates that the promise-based concurrency interface enables more concise programs with fewer errors.
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ConCodeIt !基于块的视觉机器人编程中并发接口的比较
并发性使得机器人编程即使对专业程序员来说也具有挑战性,但它对于丰富的、交互式的社会机器人行为是必不可少的。可视化编程旨在降低机器人编程的障碍,但不支持有意义的机器人应用程序的丰富并发行为。在本文中,我们探索了对基于块的可视化语言的扩展,以便通过以下方式实现并发行为的编程:(1)异步过程调用,这鼓励命令式编程;(2)回调,这鼓励事件驱动编程;(3)承诺,这也通过提供事件同步实用程序鼓励命令式编程。我们通过对具有代表性并发模式的社交机器人程序的系统分析,以及参与者撰写此类程序的用户研究(N=23),对这些方法进行了比较。我们的工作确定了这些方法之间的特征差异,并证明基于承诺的并发接口使程序更简洁,错误更少。
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