@INPROCEEDINGS{8594059,
  author={K. {Lima} and E. R. B. {Marques} and J. {Pinto} and J. B. {Sousa}},
  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Dolphin: A Task Orchestration Language for Autonomous Vehicle Networks}, 
  year={2018},
  volume={},
  number={},
  pages={603-610},
  abstract={We present Dolphin, an extensible programming language for autonomous vehicle networks. A Dolphin program expresses an orchestrated execution of tasks defined compositionally for multiple vehicles. Building upon the base case of elementary one-vehicle tasks, the built-in operators include support for composing tasks in several forms, for instance according to concurrent, sequential, or event-based task flow. The language is implemented as a Groovy DSL, facilitating extension and integration with external software packages, in particular robotic toolkits. The paper describes the Dolphin language, its integration with an open-source toolchain for autonomous vehicles, and results from field tests using unmanned underwater vehicles (UUVs) and unmanned aerial vehicles (UAVs).},
  keywords={autonomous aerial vehicles;autonomous underwater vehicles;control engineering computing;public domain software;software packages;specification languages;unmanned aerial vehicles;task orchestration language;autonomous vehicle networks;extensible programming language;Dolphin program;orchestrated execution;multiple vehicles;one-vehicle tasks;event-based task flow;Dolphin language;autonomous vehicles;unmanned underwater vehicles;Groovy DSL;software packages;robotic toolkits;open-source toolchain;Task analysis;Dolphins;DSL;Autonomous vehicles;Engines;Runtime;Java},
  doi={10.1109/IROS.2018.8594059},
  ISSN={2153-0866},
  month={Oct},}