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M06 HCEFSM PathFollower

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6 views

M06 HCEFSM PathFollower

Uploaded by

Aaa Aa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Hierarchical

Concurrent EFSM
Application-level EFSM such as path-following
Statecharts
• Definitions
• Visual language for modeling the executable behavior
of complex reactive event-based systems
[https://sismic.readthedocs.io/en/latest/format.html]
• Diagrams that represent state machines,
including compound states, which are
states with refinements,
the foundation of hierarchical state machines

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 61
Statecharts, introduction 1/3
• A flat statechart on Stately.ai

Transition Final state

Initial
state
Event

Source: https://stately.ai/docs/state-machines-and-statecharts

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 62
Statecharts, introduction 2/3
• A hierarchical statechart on Stately.ai
Parent,
compound Exit event
state

Atomic
state
Source: https://stately.ai/docs/state-machines-and-statecharts

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 63
Statecharts,
introduction 3/3
• A hierarchical, Compound,
concurrent statechart parallel state
on Stately.ai
• Other features
• History compound states
• Shallow
Entering on a walk
• Deep
enters activity and tail
• Preemptive transitions
• Top-down, conditional evaluation
• Synchronization
• Exit upon reaching final states, i.e.
Transition-on-Completion mode Event exits
• Exit upon outgoing parent event, i.e. from both,
Transition-Immediately mode activity and tail
Source: https://stately.ai/docs/state-machines-and-statecharts
© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 64
Hierarchical, concurrent EFSM
• Hierarchy minimizes number of arcs w.r.t flat version

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 65
Hierarchical, concurrent EFSM
• Robot basic operations controller, L0Main + LIDAR refinement

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 66
Hierarchical, concurrent EFSM
• Robot basic operations controller, L0Main + GO refinement

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 67
Hierarchical, concurrent EFSM
• Layered architecture
• Communications’ based hierarchy
• All assignments consistent
• Need for explicit
synchronization protocols

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 68
Exercise 6: Path follower implementation
• Path follower

© 2023 Lluís Ribas i Xirgo, Universitat Autònoma de Barcelona 106589 Intelligent Robots, 69

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