Discrete Event Modeling and Veri caiton of a class ofIntelligent Controllers with Application

In our previous papers [13, 15, 14] we introduced the fundamental concepts of an intelligent control architecture where a behavior-based approach was proposed for the design. The intelligent controller in this architecture is a cascade of a perceptor and a responder. The responder is a discrete event system that receives discrete stimuli from the perceptor, maintains discrete states, and generates discrete control actions. In this paper we present a formal model of the responder as a nite set of interacting automata. Such a model allows a mathematical analysis such as formal veri cation of the design. We illustrate the discrete event modeling and formal veri cation technique by applying it to the individual controller design for a network of autonomous underwater vehicles used for the mission of ocean sampling.