Title: Coordinating Robotic Tasks and Systems with rFSM Statecharts
Authors: Klotzb├╝cher, Markus ×
Bruyninckx, Herman #
Issue Date: Dec-2012
Series Title: JOSER: Journal of Software Engineering for Robotics vol:3 issue:1 pages:28-56
Abstract: Coordination is a system-level concern defining execution and
interaction semantics of functional computations. Separating
coordination from functional computations is a key principle for
building complex, robust and reusable robotic systems. This work
introduces a minimal variant of Harel statecharts called rFSM
designed to model coordination of robotic tasks and systems with a
minimal number of semantic primitives. Firstly, the semantics of the
rFSM language are derived by analyzing state-of-the-art discrete
event models and implementations and extracting a motivated and
semantically well-defined subset that is considered best practice
for the domain of robotic coordination. Secondly, a real-time
capable reference implementation of rFSM is presented, which has
been loosely integrated into the OROCOS/RTT framework. The
application of rFSM is illustrated using a detailed description of a
dual robot coordination problem. Lastly, several best practices and
patterns are presented with the goal of i) supporting development of
robust Coordination models, ii) illustrating how limitations of the
statechart model can be overcome by extending the execution
semantics, and iii) offering guidance in designing pure coordination
components that optimize reusability.
ISSN: 2035-3928
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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