Specifiying and verifying a active vision-based robotic systems with the signal environment

摘要

Active vision-based robot design involves a variety of techniques and formalisms, from kinematics to control theory, signal processing, and computer science. The programming of such systems there- fore requires environments with many different functionalities, in a very integrated fashion to ensure consistency of the different parts. In significant applications, the correct specification of the global Controller is not simple to achieve, as it mixes different levels of Behavior, and must respect properties. In this paper we advocate The use of a strongly integrated environment that is able to deal with The design of such systems, from the specification of both contern- Ous and discrete parts down to the verification of dynamic behavior.