An Automaton Based Algebra for Specifying Robotic Agents

Abstract

This paper describes a framework for specifying robotic agents in a modular way. The framework is based on finite state machines together with a set of operators that allow the description of a complex system from its components. The finite state machine model allows the presented framework to benefit from available controller synthesis and verification methodologies. The set of operators is motivated by execution scenarios and system architecture that are common within the area of robotics. They are adopted from operators offered in several process algebras. An Automaton Based Algebra For Specifying Robotic Agents 1 1.1 Introduction Robotic agents are often complex systems that reside in dynamically changing environments. In order for robotic agents to operate robustly and reliably in a real world environment, they are equipped with several sensors and actuators that constantly monitor the environment and act upon observed changes, according to a prespecified strategy. In other wo...