Nilsson, N. J. (1985). Triangle tables: A proposal for a robot programming language (Vol. 60). SRI International. Artificial Intelligence Center.
Structures called triangle tables were used in connection with the SRI robot Shakey for storing sequences of robot actions. Because the rationale for triangle tables still seems relevant, I have recently elaborated the original concept and have begun to consider how the expanded formalism could be used as a general robot-programming language. The present article describes this new view of triangle tables and how they might be used in a language that supports asynchronous ad concurrent action computations.