Specification of Agent Based Robotic Systems Using Hierarchical Finite State Automatons

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.

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