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> The Roomba’s Guidance System

> Date: 2002

> Established a new way for technology (and cats) to move in the physical world

> (define-behavior (bounce :start-when (or (bump?) bounce-trigger? ) :abort-when (bump-edge?) :onetime? t))

Does anyone closer to the source here know if Roomba is still written in Lisp?

ROS-1 still has quite a lot of functionality written in and accessible from lisp (c++ and python are the major languages nowadays). irobot was founded by alums of the MIT AGI lab, which used lisp extensively.

I suspect that's why lisp is in there at all! It's very likely python/cpp nowadays though.

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