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live programming in practice: A controlled experiment on state machines for robotic behaviors

INFORMATION AND SOFTWARE TECHNOLOGY 2019年 108卷 99-114页

作者： Campusano, Miguel Fabry, Johan Bergel, Alexandre Univ Chile Comp Sci Dept DCC ISC Lab Beauchef 851 Santiago Chile Raincode Labs Brussels Belgium

Context: live programming environments are gaining momentum across multiple programming languages. A tenet of live programming is a development feedback cycle, resulting in faster development practices. Although practitioners of live programming consider it a positive inclusion in their workflow, no in-depth investigations have yet been conducted on its benefits in a realistic scenario, nor using complex API. Objective: This paper carefully studies the advantage of using live programming in defining nested state machines for robot behaviors. We analyzed two important aspects of developing robotic behaviors using these machines: program comprehension and program writing. We analyzed both development practices in terms of speed and accuracy. Method: We conducted two controlled experiments, one for program comprehension and another for program writing. We measured the speed and accuracy of randomized assigned participants on completing programming tasks, against a baseline. Results: In a robotic behavior context, we found that a live programming system for nested state machine programs does not significantly outperform a non-live language in program comprehension nor in program writing in terms of speed and accuracy. However, the feedback of test subjects indicates their preference for the live programming system. Conclusions: The results of this work seem to contradict the studies of live programming in other areas, even while participants still favor using live programming techniques. We learned that the complex API chosen in this work has a strong negative influence on the results. To the best of our knowledge, this is the first in-depth live programming experiment in a complex domain.

关键词： live programming Controlled experiment robot behaviors live robot programming Nested state machines

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live programming the Behavioral Layer of robots 17

Live Programming the Behavioral Layer of Robots

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IEEE/ACM 39th International Conference on Software Engineering Companion (ICSE-C)

作者： Campusano, Miguel Univ Chile PLEIAD Comp Sci Dept DCC Santiago Chile Univ Chile RyCh Labs Comp Sci Dept DCC Santiago Chile

ISBN: (纸本)9781538615898

robotic development suffers from a long cognitive distance between the code and the resulting behavior. This is due to the several steps necessary to build robotic behaviors: writing the code, compiling it, deploying it and finally testing it on the robot. All this slows down development and can make experimentation prohibitively expensive. In contrast, live programming tightens the feedback loop, minimizing the cognitive distance. As a result, programmers benefit from an immediate connection with the program that they are making thanks to an immediate, 'live' feedback of program behavior. This allows for extremely rapid creation, or variation, of robot behavior and for dramatically increased debugging speed. In this research, we fist explore the concept of live programming in the development of robot behaviors. Second, we present how we can validate our approach to improve the development of robotic behaviors.

关键词： robot live programming live robot programming Nested State Machines

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