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Communication Within Multi-FSM Based Robotic Systems

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  • Published: 02 June 2018
  • Volume 93, pages 787–805, (2019)
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Communication Within Multi-FSM Based Robotic Systems
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  • Cezary Zieliński1,
  • Maksym Figat  ORCID: orcid.org/0000-0002-1898-05401 &
  • René Hexel2 

  • 1475 Accesses

  • 3 Altmetric

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Abstract

The paper presents a robotic system design methodology based on the concept of an embodied agent decomposed into communicating subsystems, whose activities are specified in terms of FSMs invoking behaviours parameterised by transition functions and terminal conditions. In the implementation phase, this specification is transformed into a system composed of a whiteboard providing communication means and logically labelled FSMs (LLFSMs) defining the system behaviour. These concepts are used to generate the code of the robot controller. The inclusion of inter-subsystem communication model completes the resulting system design with respect to our previous work that did not account for this model. Thus communication plays a central role in this presentation. The design methodology is exemplified with a rudimentary table tennis ball-collecting robot. The presented methodology and the implementation tools are suitable and beneficial for application to the design of other robotic systems.

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Acknowledgments

This work was supported by the Erasmus Mundus Action 2 PANTHER (Pacific Atlantic Network for Technical Higher Education and Research) grant and by the National Science Centre, Poland (grant number 2017/25/N/ST7/00900).

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  1. Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665, Warsaw, Poland

    Cezary Zieliński & Maksym Figat

  2. School of ICT, Griffith University, 170 Kessels Road, Nathan, QLD 4111, Australia

    René Hexel

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Zieliński, C., Figat, M. & Hexel, R. Communication Within Multi-FSM Based Robotic Systems. J Intell Robot Syst 93, 787–805 (2019). https://doi.org/10.1007/s10846-018-0869-6

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  • Received: 02 October 2017

  • Accepted: 08 May 2018

  • Published: 02 June 2018

  • Issue Date: 15 March 2019

  • DOI: https://doi.org/10.1007/s10846-018-0869-6

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Keywords

  • Robotic system specification
  • Robotic system design methodology
  • Communication model
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