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Robotic System Design Methodology Utilising Embodied Agents

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Automatic Control, Robotics, and Information Processing

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 296))

Abstract

The paper presents a holistic robotic system specification methodology taking into account both the system structure and its activities. It is based on the concept of an embodied agent. Each agent is decomposed into cooperating subsystems. Subsystem activities are defined by a hierarchical finite state automaton and subsystem transition functions. Diverse robotic system architectures produced by the postulated design methodology are presented. Classification of robotic systems facilitating the presentation of their architectures is proposed.

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Notes

  1. 1.

    FSA state transition function should not be associated with the transition function. Both have different arguments and values. The former dictates how the FSA switches states, while the latter transforms the data contained in memory and input buffers into the data inserted into output buffers and the memory.

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  1. Warsaw University of Technology, Faculty of Electronics and Information Technology, Institute of Control and Computation Engineering, Nowowiejska 15/19, 00-665, Warsaw, Poland

    Cezary Zieliński

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  1. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Piotr Kulczycki

  2. Institute of Control and Computation Engineering, University of Zielona Góra, Zielona Góra, Poland

    Józef Korbicz

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Zieliński, C. (2021). Robotic System Design Methodology Utilising Embodied Agents. In: Kulczycki, P., Korbicz, J., Kacprzyk, J. (eds) Automatic Control, Robotics, and Information Processing. Studies in Systems, Decision and Control, vol 296. Springer, Cham. https://doi.org/10.1007/978-3-030-48587-0_17

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