Formal specification and simulation of the robot perceptual system

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Abstract

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. © Springer Science+Business Media B.V. 2008.

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Belkhouche, M. Y., & Belkhouche, B. (2008). Formal specification and simulation of the robot perceptual system. In Novel Algorithms and Techniques in Telecommunications, Automation and Industrial Electronics (pp. 140–143). https://doi.org/10.1007/978-1-4020-8737-0_25

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