In this paper, we describe the design and implementation of Orwell, a configuration management tool for multiperson Smalltalk projects. Although the system described has been implemented for Smalltalk, the design is applicable to other languages such as C++, Objective-C or ADA. Smalltalk is well recognized as a productive programming environment for an individual programmer, but its lack of team support is currently a major obstacle in using Smalltalk for a large software project. To support multiperson Smalltalk programming, Orwell provides both source and object code sharing as well as version control on a network of personal workstations. Class ownership is used as the primary means for dividing work among programmers during the lifecycle of a project. Orwell also supports groups of programmers not physically connected to a common file server. We describe our implementation which preserves the productive exploratory environment of Smalltalk. Seamless integration and performance are essential for Orwell to be accepted and used by Smalltalk programmers.

Programming languages for robotics applications are continually being developed and extended as the applications become more sophisticated. Language evolution is proceeding along two directions: (1) providing more and better facilities for task-level as opposed to robot-level programming and (2) providing better facilities for simulation, graphics and symbolic manipulation. The trend makes it clear that the full capabilities of a general purpose programming language are needed. Instead of developing a new language from the ground up, it is easier and more productive to take an existing language with all the requisite general purpose facilities and specialize it for robotics. Because of its symbolic processing facilities, its object-oriented nature, its usefulness as a simulation language, and its sophisticated graphical interface, Smalltalk is an ideal candidate for specialization. We discuss in more detail why this is the case and we show how a programming language that approaches the power of AL can be imbedded in Smalltalk within 2-4 person-months of effort.