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CRAM: Cognitive Robot Abstract Machine
CRAM stands for Cognitive Robot Abstract Machine and is a set of ROS packages to perform goal driven robot plan execution. Its domain-specific reactive concurrent language is based on the idea of a RPL (Robot Plan Language) of Drew McDermott. Its core packages are implemented in Common Lisp.
Currently it contains the following packages:
- cram_language is the core of CRAM. It contains extensions to Common Lisp specifically designed for writing transparent robot control programs.
- cram_reasoning contains an implementation of a Prolog like interpreter and the RETE algorithm for performing symbolic reasoning.
Acknowledgements
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)
- EU FP7 project Saphari (grant agreement #287513)
- EU FP7 project SHERPA (grant agreement #600958)
- Willow Garage as part of the PR2 Beta Program