Communication Within Multi-FSM Based Robotic Systems

Cezary Zieliński , Maksym Figat , R. Hexel


The paper presents a robotic system design methodology based on the concept of an embodied agent decomposed into communicating subsystems, whose activities are specified in terms of FSMs invoking behaviours parameterised by transition functions and terminal conditions. In the implementation phase, this specification is transformed into a system composed of a whiteboard providing communication means and logically labelled FSMs (LLFSMs) defining the system behaviour. These concepts are used to generate the code of the robot controller. The inclusion of inter-subsystem communication model completes the resulting system design with respect to our previous work that did not account for this model. Thus communication plays a central role in this presentation. The design methodology is exemplified with a rudimentary table tennis ball-collecting robot. The presented methodology and the implementation tools are suitable and beneficial for application to the design of other robotic systems. Communication Within Multi-FSM Based... (PDF Download Available). Available from: [accessed Jun 05 2018].
Author Cezary Zieliński (FEIT / AK)
Cezary Zieliński,,
- The Institute of Control and Computation Engineering
, Maksym Figat (FEIT / AK)
Maksym Figat,,
- The Institute of Control and Computation Engineering
, R. Hexel - [Griffith University]
R. Hexel,,
Journal seriesJournal of Intelligent & Robotic Systems, ISSN 0921-0296
Issue year2019
Publication size in sheets0.9
ASJC Classification2208 Electrical and Electronic Engineering; 1702 Artificial Intelligence; 2209 Industrial and Manufacturing Engineering; 2210 Mechanical Engineering; 2207 Control and Systems Engineering; 1712 Software
Languageen angielski
ZielFigHex JIRS 2018.pdf 1.32 MB
Score (nominal)100
Score sourcejournalList
ScoreMinisterial score = 100.0, 25-03-2020, ArticleFromJournal
Publication indicators WoS Citations = 1; Scopus Citations = 3; GS Citations = 8.0; Scopus SNIP (Source Normalised Impact per Paper): 2018 = 1.438; WoS Impact Factor: 2018 = 2.02 (2) - 2018=2.41 (5)
Citation count*9 (2020-04-19)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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