(Georgia Institute of Technology, 2003)
Arkin, Ronald C.; Lyons, Damian M.
It is important to be able to guarantee the safety
and effectiveness of robot behavior in applications where
robots must operate alongside people or in hazardous
situations. A modeling framework based on port automata
and asynchronous communication is introduced in this
paper. By looking at the internal transitions between port
communications, an analysis approach is developed that
removes the combinatoric issues of looking at an
asynchronous combination of robot and environment. An
example application of the approach to wheel slippage in a
mobile robot is presented.