IMPED (IMP EDitor): A Visual Message Protocol Specification Language

Isaac is a visual programming environment for mobile robots currently under development at New Mexico State University. The goal of the project is to provide a com- plete environment for the specificat ion, configuration, and programming of mobile robots. In this paper, we discuss Isaac's mechanism for specifying the communications protocols used by the sensors and ac- tuators of a robot. Keywords: Communication protocols, mobile robots, controller-area networks