CRAM: Cognitive Robot Abstract Machine

CRAM stands for Cognitive Robot Abstract Machine and is a set of ROS package to perform goal driven robots plan execution. It is based on the idea of a RPL (Robot Plan Language) by Drew McDermott. Currewntly it contains the following packages:

• CRAM Language is the core of CRAM. It contains extensions to common lisp especially designed for writing transparent robot control programs.

• CRAM Reasoning contains an implementation of a Prolog like interpreter and the RETE algorithm.

• CRAM Math contains some basic math tools, including geometry functions for dealing with poses.

• Designators

• Process Modules

This project received funding from several funding agencies in different research projects. We would like to acknowledge the support from

• DFG Excellence Initiative research cluster Cognition for Technical Systems (CoTeSys)
• EU FP7 project RoboEarth (grant agreement #248942)
• EU FP7 project RoboHow (grant agreement #288533)
• Willow Garage as part of the PR2 Beta Program