Persistification of Robotic Tasks

Specifying and Verifying Robotic Tasks

This paper presents an approach to the speciication of requirements, and veriication of design, for a robot or other intelligent system. Formal mathematical reasoning is used to show that a design conforms to the system requirements. Typically the requirements deene safety and functionality constraints on the system and components. Formal analysis allows the system designer to evaluate the syst...

Collaborative tracking for robotic tasks

This paper describes how to integrate tracking functions on a mobile robot. Tracking is required during autonomous robot navigation in different situations: landmark tracking to guarantee real-time robot localization, target tracking for a sensor based motion or obstacle tracking to control an obstacle avoidance procedure. These objects -landmarks, targets, and obstacleshave different character...

Petri Net Models of Robotic Tasks

Decomposition of Agricultural tasks into Robotic Behaviours

A new method is described that can be used to decompose human controlled agricultural operations into robotic behaviours embedded in an autonomous tractor. Four main levels have been identified: Operation, Task, Optimisation/Behaviour and Primitive actions where each level is subsumed by the level above. Tasks were further classified into two distinctive types, deterministic tasks that can be p...

Empirical modeling and comparison of robotic tasks

How can we describe and measure real robotic sys-tems? Implemented robotic systems for intelligent tasks are are often extremely complicated, depending not only onìnteresting' theoretical parameters and models, but on many assumptions and constants which may be set almost arbitrarily. In order to evaluate and compare systems which employ diverse components and methods, we are obliged to employ ...