finite state automaton for task execution

On Fri, 19 Apr 2002, Herman Bruyninckx wrote:
>
> On Fri, 19 Apr 2002, Christian Schlegel wrote:
>
> > As soon as Boris is back, we will provide a technical note on a
> > finite state automaton used for task execution (implemented as
> > generic C++ class). This automaton is used to control a table
> > cleaning task where vision and a manipulator is involved.
>
> This sounds like the staeServer-stateClient library I sketched above :-)
> (Or nearly so.)

Dear Herman,

to fill the discussion with some clarifying examples, please, find in the
attachment some notes on the FSM Christian was talking about (see file
"fsmctrl.ps"), the source code of the FSM control library (directory
"fawFsmControl", you may get some documentation by calling doxygen) and as
an example some application code for the table cleaning robot (directory
"fawCAControl").

At the moment the library is to be used with SmartSoft components.
However, the main ideas only rely on the (more or less abstract)
communication patterns. The sort of FSM used in this library is in fact a
hierarchical FSM (as you mentioned them earlier), i.e. the C++ class for
the state machine inherits from the class for the state.

I hope this is of use to some of you. And of course, feedback and comments
are welcome.

Boris
--
Boris Kluge
Research Institute for Applied Knowledge Processing
Helmholtzstr. 16, D-89081 Ulm, Germany
[email protected], phone: +49 731 501-674, fax: +49 731 501-999