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Composed, and in Control: Programming the Timber Robot

This paper describes the implementation of control algorithms for a mobile robot vehicle using the programming language Timber, which offers a high-level, declarative approach to key aspects of embedded systems development such as real-time control, event handling, and concurrency. In particular, we show how Timber supports an elegant, compositional approach to program construction and reuse— from smaller control components to more complex, higher-level control applications—without exposing programmers to the subtle and errorprone world of explicit concurrency, scheduling, and synchronization.