An approach to implementing CCRScript in ROS

Mads Saustrup Fox

Studenteropgave: Speciale


Taking an offset in the CCRScript as described and designed by Henning Christiansen and the constraints model presented in the article “Towards Behavioral Object”, by Bianchini et al., this thesis presents the challenges of implementing the CCRScript in ROS to run a LEGO Mindstorm EV3 robot. This implementation is made in an attempt to take one step closer to realizing the potential presented in the constraints model, by the EV3 robot executing movement patterns described in the CCRScript. One of the challenges this thesis addresses is within mobile robotics and focuses on the kinematics of a differential drive robot, and how to convert paths defined in the CCRScript to motor velocities executed by the EV3 robot. Another challenge is how to run multiple robots simultaneously from the same CCRScript manuscript. This thesis also suggests an approach to localize the robot via the Qualisys motion capture system in order to detect errors and correct them in a rapid low latency approach. The thesis ends by connecting the three orders of constraints to part of the CCRScript simulator and part of the suggested further improvements of this implementation.

UddannelserDatalogi, (Bachelor/kandidatuddannelse) Kandidat
Udgivelsesdato2 jan. 2018
Antal sider32
VejledereHenning Christiansen


  • Robotics
  • ROS
  • Qualisys
  • Robot Navigation
  • Robot Localization
  • Robot mobility
  • EV3
  • Robot Operating System