Formal Specification and Simulation of the Robot Perceptual System

  • M. Yassine Belkhouche
  • Boumediene Belkhouche


We use hybrid specification methods to capture the behavior of the perceptual system of autonomous mobile robots. A robot is divided into three main subsystems: the perceptual subsystem, the planning subsystem, and the acting subsystem. The perceptual system is itself decomposed into subsystems. We elaborate a formal description of these subsystems, and we model the communication protocol among them. A software simulation is developed to illustrate the behavior of the proposed design. The resulting model allows developers to test, verify, and simulate autonomous robot systems.


Mobile Robot Robot System Perceptual System Atomic Action Hybrid Automaton 
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Copyright information

© Springer Science+Business Media B.V. 2008

Authors and Affiliations

  • M. Yassine Belkhouche
    • 1
  • Boumediene Belkhouche
    • 2
  1. 1.Computer Science and Engineering DepartmentUniversity of North TexasDenton
  2. 2.College of Information TechnologyUAE UniversityAl-AinUAE

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