Modeling Synchronization/Communication Patterns in Vision-Based Robot Control Applications Using ASMs

  • Andrea Luzzana
  • Mattia Rossetti
  • Paolo Righettini
  • Patrizia Scandurra
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7316)

Abstract

This paper proposes the use of the Abstract State Machine method for a rigorous foundation in modeling and validating Vision-Based Robot Control applications. We show how to tailor control tasks definitions and associated synchronization/communication patterns in rigorous and abstract terms by using control state ASMs and an extension of the classical flowchart notation to allow the definition/instantiation of recurring design solutions and to improve model traceability.

Keywords

Robot Controller Abstract State Machine Rigorous Foundation Camera Controller Pattern Machine 
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References

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    The ASMETA toolset website (2006), http://asmeta.sf.net/
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    Börger, E., Stärk, R.: Abstract State Machines: A Method for High-Level System Design and Analysis. Springer (2003)Google Scholar
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    Hutchinson, S., Hager, G.D., Corke, P.I.: A tutorial on visual servo control. IEEE Transactions on Robotics and Automation 12(5), 651–670 (1996)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Andrea Luzzana
    • 1
  • Mattia Rossetti
    • 1
  • Paolo Righettini
    • 2
  • Patrizia Scandurra
    • 1
  1. 1.DIIMMUniversità degli Studi di BergamoDalmineItaly
  2. 2.DPTUniversità degli Studi di BergamoDalmineItaly

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