State transition based supervisory control for a robot soccer system

Abstract

Distributed robot control systems consist of mechanical systems powered by actuators that are under the control of computer systems that rely on sensor input, such as vision, touch and torque sensing. Often these systems are installed in production processes in which they must cooperate and collaborate with both humans and other robotic systems. This complexity requires a framework in which the many interacting components can be managed. This paper introduces state transition based system (STBS) techniques for managing the behaviour of collaborative robotic systems.