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.


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    Title :

    Structure Synthesis for Extended Robot State Automata


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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