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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:

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