Hierarchical Object-Oriented Mission Planning for Multilegged Autonomous Robots

Abstract The paper is dealing with a theoretical approach for design the goal-structure-oriented missions to be performed by autonomous robots. A three orthogonal views-based framework is usedfor the behavioral, structural and physical representations within design space. The object oriented paradigm is chosen to support the development of an integrated tool that can ensure the user to generate and evaluate various scenarios. A six legged spider-like robot is OO modelled and simulated as a case study.