We present Dolphin, an extensible programming language for autonomous vehicle networks. A Dolphin program expresses an orchestrated execution of tasks defined compositionally for multiple vehicles. Building upon the base case of elementary one-vehicle tasks, the built-in operators include support for composing tasks in several forms, for instance according to concurrent, sequential, or event-based task flow. The language is implemented as a Groovy DSL, facilitating extension and integration with external software packages, in particular robotic toolkits. The paper describes the Dolphin language, its integration with an open-source toolchain for autonomous vehicles, and results from field tests using unmanned underwater vehicles (UUVs) and unmanned aerial vehicles (UAVs).
@article{arxiv.1803.00944,
title = {Dolphin: a task orchestration language for autonomous vehicle networks},
author = {Keila Lima and Eduardo R. B. Marques and José Pinto and João B. Sousa},
journal= {arXiv preprint arXiv:1803.00944},
year = {2018}
}