Structure Synthesis for Extended Robot State Automata

Title data

Sauer, Lukas ; Henrich, Dominik:
Structure Synthesis for Extended Robot State Automata.
In: Müller, Andreas ; Brandstötter, Mathias (ed.): Advances in Service and Industrial Robotics : RAAD 2022. - Cham : Springer , 2022 . - pp. 71-79
ISBN 978-3-031-04870-8
DOI: https://doi.org/10.1007/978-3-031-04870-8_9

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Abstract in another language

Opening up untapped potential in smaller enterprises requires methods for robot programming usable by non-experts. In a previous work on an automata-based programming approach without a graphical interface, linking to previous states to close loop structures was identified as challenging for users. In this paper, we propose an approach to generate such structures automatically from small overlap within the programmed instructions. To this end, a marking function for state pairs is calculated, which evaluates whether the structures starting from two states are conflicting or in agreement (and in the latter case, how much). Algorithms for calculating and utilizing this marking function are presented. Our experiments on an example task confirm the effectiveness of the approach.