Robot System Design Procedure Based on a Formal Specification
This paper presents a robot control system design procedure based on a formal specification. The specification describes both the structure and the activities of a robot system in a formal manner. Using this specification the code of the robot system controller can be produced. The paper shows how. Moreover it has been shown that the complexity of the robot control system is concentrated in two of its elements: transition functions and the structure of the FSM. The reduction of the complexity of transition functions simultaneously increases the number of states of the FSM and vice versa, so it is up to the designer of the system to choose the adequate complexity level of this pair.