Robotic Systems Implementation Based on FSMs
Cezary Zieliński , Maksym Figat , R. Hexel
AbstractThis 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.
|Publication size in sheets||0.55|
|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 English||Robotic system · Specification · Implementation|
|Score|| = 15.0, 15-05-2018, BookChapterSeriesAndMatConf|
= 15.0, 15-05-2018, BookChapterSeriesAndMatConf
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