ESL: a language for supporting robust plan execution in embedded autonomous agents

E. Gat
1997 IEEE Aerospace Conference  
ESL (Execution Support Language) is a language for encoding execution knowledge in embedded autonomous agents. It is similar in spirit to RAPs [Firby89] and RPL [McDermott91], and RS [Lyons93], and its design owes much to these systems. Unlike its predecessors, ESL aims for a more utilitarian point in the design space. ESL was designed primarily to be a powerful and easy-to-use tool, not to serve as a representation for automated reasoning or formal analysis (although nothing precludes its use
more » ... or these purposes). ESL consists of several sets of loosely coupled features that can be composed in arbitrary ways. It is currently implemented as a set of extensions to Common Lisp, and is being used to build the executive component of a control architecture for an autonomous spacecraft [Pel196].
doi:10.1109/aero.1997.574422 fatcat:du7ap2aemfcf5dgxrtqwnycl2m