A Portable Language for Control of Multiple Autonomous Vehicles and

In this paper we show the design of a language which is applicable for control of multiple autonomous unmanned vehicles as well as for distributed problem solving, in general. The language, under the working name CCL (Common Control Language) is a natural extension of behavior-based robotic architectures allowing both fast reaction and deliberation in realtime. CCL provides a powerful support for distributed problem solving based on the cost optimization mechanism, and combines the best of the world of declarative and imperative programming. 1