Including control in the definition of a programming language for multi-robots

Describes a concurrent programming language, named IAda, for robot applications. IAda is based on the Ada language and includes two programming levels: the first one to perform concurrent applications with tasks or procedures written in Ada, and the second one to control the execution of the previous. To reach this second goal, the authors include, in the definition of this language, a constraint scheme whose semantic is to verify properties during the execution of the task level program. The authors describe this language and its construction to show the high portability of IAda