Cabsl - C-Based Agent Behavior Specification Language

This paper describes the C-based Agent Behavior Specification Language (CABSL) that is available as open source [8]. It allows specifying the behavior of a robot or a software agent in C++ 11. Semantically, it follows the ideas of the Extensible Agent Behavior Specification Language (XABSL) developed by Lotzsch et al. [6], i.e. robot behavior is described as a hierarchy of finite state machines. However, its integration into a C++ program requires significantly less programming overhead than when using XABSL. CABSL has been part of all B-Human code releases since 2013 [9], but it is now also available as a standalone release that works without the B-Human base system.