Abstract
This paper presents a robotic system development methodology, starting with the creation of a system model and ending with its implementation. 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 transformed into implementation concepts such as: hierarchical LLFSMs, scheduler, and whiteboard. The proposed design methodology is illustrated on a table-tennis ball collecting robot. Moreover, the evaluation of the performance of the resulting system is presented.
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This work was supported by the Erasmus Mundus Action 2 PANTHER (Pacific Atlantic Network for Technical Higher Education and Research) grant.
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Zieliński, C., Figat, M., Hexel, R. (2018). Robotic Systems Implementation Based on FSMs. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2018. AUTOMATION 2018. Advances in Intelligent Systems and Computing, vol 743. Springer, Cham. https://doi.org/10.1007/978-3-319-77179-3_41
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DOI: https://doi.org/10.1007/978-3-319-77179-3_41
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