Robot System Design Procedure Based on a Formal Specification

Cezary Zieliński , Maksym Figat

Abstract

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.
Author Cezary Zieliński IAiIS
Cezary Zieliński,,
- The Institute of Control and Computation Engineering
, Maksym Figat IAiIS
Maksym Figat,,
- The Institute of Control and Computation Engineering
Pages511-522
Publication size in sheets0.55
Book Szewczyk Roman, Kaliczyńska Małgorzata, Zieliński Cezary: Challenges in Automation, Robotics and Measurement Techniques. Proceedings of AUTOMATION-2016, March 2-4, 2016, Warsaw, Poland, Advances in Intelligent Systems and Computing, vol. 440, 2016, Springer International Publishing, ISBN 978-3-319-29356-1, [978-3-319-29357-8], 919 p., DOI:10.1007/978-3-319-29357-8
Keywords in EnglishRobot system specification, Controller code generation
DOIDOI:10.1007/978-3-319-29357-8_45
URL http://link.springer.com/chapter/10.1007/978-3-319-29357-8_45
projectMethodology of design and implementation of multi-sensory robotic systems for service purposes. Project leader: Winiarski Tomasz, , Phone: 7649, 7117, start date 01-02-2013, planned end date 31-01-2016, end date 03-10-2016, 505M/1031/0043, Completed
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Languageen angielski
File
Zielinski Figat AUT-16 specification-1.pdf 418.68 KB
Score (nominal)15
ScoreMinisterial score = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
Ministerial score (2013-2016) = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
Citation count*5 (2018-07-19)
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