MDLe (Motion Description Language Extended) is a general-purpose high-level programming language for specifying robot control and sensing programs in a platform-independent manner. MDLe enables representation of hybrid control algorithms (control algorithms that combine discrete states, state switching logic, and differential equations).

MDLe is available for free under LGPL. MDLe is currently packaged with CybeleLite for deployment on single robot. For deployment on multiple robots, download CybelePro.

MDLe facilitates the specification of complex robot motion and sensing plans by employing a three-tier hierarchical structure. The MDLe hierarchy consists of atoms, behaviors, and plans. At the lowest level in the hierarchy, MDLe atoms encapsulate open or closed-loop control laws, a timer, and an interrupt. An atom's control law operates on a physical plant for no more than T units of time (specified by the timer parameter) or until the atom's interrupt becomes asserted. Interrupts are user-defined Boolean-valued functions that preempt execution of an MDLe component when a specified condition is detected. For historical perspective on MDLe, click here.