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

Andrea Luzzana,Mattia Rossetti, Paolo Righettini,Patrizia Scandurra

International Conference on Abstract State Machines, Alloy, B, TLA, VDM, and Z (ABZ)（2012）

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摘要

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.

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关键词

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

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