Specification of Agent Based Robotic Systems Using Hierarchical Finite State Automatons

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


The paper assumes the composition of robotic systems out of embodied agents. It presents a utilitarian decomposition of an agent into subsystems. Both subsystem behaviours and their selection can be described in terms of Finite State Automatons (FSA), thus Hierarchic FSAs result. Mathematical formalisation of this description enables the verification of correctness of some aspects of system operation.


Robotic system specification methodology Hierarchical finite state automaton Hierarchical finite state machine 


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Authors and Affiliations

  1. 1.Warsaw University of Technology, Institute of Control and Computation EngineeringWarsawPoland

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