Discrete Event Systems Based Robotic Task Modeling

Most of the existing robotic task models are not based on formal approaches, are concerned only with a small number of behaviors and are typically tailored to the task at hand. We have proposed, back to 1999 [1] systems-theory-based a task modeling approach for general robotic tasks which enables a systematic approach to modeling, analysis and design, scaling up to realistic applications, providing methods for logical verification, stochatic performance, and design from specifications. Our approach is based on using discrete event systems (DES) models, mainly Petri nets and finite state automata, for robot plans representation. This particular representation enables using all the available DES analysis and design tools to handle robotic task formal analysis and design.