Formal Specification and Simulation of the Robot Perceptual System
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.
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