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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.
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)
- Willow Garage as part of the PR2 Beta Program