A language for modeling and programming cooperative control systems

In this paper we describe a software tool called CCLi (for CCL interpreter) that implements the Computation and Control Language (CCL). CCL is a language for modeling and programming of robotic and control systems. CCLi is used to simulate CCL models and programs and can also be used to execute CCL programs on actual robots. The language is particularly well suited to concurrent, partially synchronized processes interacting via communications and the environment, such as would describe cooperative control tasks. This paper describes the syntax and semantics of the language and gives examples of its use in modeling and programming cooperative control and multi-robot systems.