Robotic Systems Implementation Based on FSMs

Cezary Zieliński , Maksym Figat , R. Hexel

Abstract

This paper presents a robotic system development methodol- ogy, starting with the creation of a system model and ending with its imple- mentation. Our methodology is based on the concept of an embodied agent, which is decomposed into subsystems. The activities of those subsystems are described in terms of FSMs which invoke behaviours parameterised by transition functions, taking as arguments the contents of subsystem input buffers and their internal memory. Those theoretical concepts are trans- formed into implementation concepts such as: hierarchical LLFSMs, sched- uler, and whiteboard. The proposed design methodology is illustrated on a table-tennis ball collecting robot. Moreover, the evaluation of the perfor- mance of the resulting system is presented.
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
R. Hexel,,
-
Pages441-452
Publication size in sheets0.55
Book Szewczyk Roman, Zieliński Cezary, Kaliczyńska Małgorzata: Advances in Automation, Robotics and Measurement Techniques, Advances in Intelligent Systems and Computing, vol. 743, 2018, Springer International Publishing AG , ISBN 978-3-319-77178-6, 795 p., DOI:10.1007/978-3-319-77179-3
Keywords in EnglishRobotic system · Specification · Implementation
DOIDOI:10.1007/978-3-319-77179-3_41
URL https://link.springer.com/chapter/10.1007/978-3-319-77179-3_41
Languageen angielski
File
Zielinsk i in Automation2018.pdf 965.8 KB
Score (nominal)15
ScoreMinisterial score = 15.0, 15-05-2018, BookChapterSeriesAndMatConf
Ministerial score (2013-2016) = 15.0, 15-05-2018, BookChapterSeriesAndMatConf
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