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Conference Paper
Event-Driven Notation and Hierarchical Automata Semantics for Incremental Task Modeling
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- Authors
- Rockwon Kim, Hyuk Tae Kwon, Wan C. Yoon
- Issue Date
- 2013-08
- Citation
- IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems (HMS) 2013, pp.16-23
- Language
- English
- Type
- Conference Paper
- Abstract
- Task modeling and specification for autonomous agents (e.g. robots) normally start with exploring typical scenarios and situational variations. Numerous behavioral procedures of an agent are thus collected. Those procedures are partially different from one another, varying in fragmentation or in abstraction levels. To describe task procedures having this characteristic, we propose an Event-driven Task Script (ETS) notation and a formal semantic framework for modeling agent's tasks directly from a set of redundant and partially described scripts. Sequential and parallel behavior control and an event handling mechanism are supported by ETS. The semantics of ETS notation is defined by the corresponding Hierarchical Automata (HA), which is concise and widely used in the area of discrete event systems. The semantic mapping from ETS notation to the semantic domain of HA is also formally defined. An HA task model is incrementally constructed from the ETS scripts. This model transformation enables verification of possibly incomplete task scripts in the HA model. As an illustrative example, we provide a virtual task scenario for a museum guide robot and describe the process of the model transformation. Copyright © 2013 IFAC.
- KSP Keywords
- Discrete Event(DE), Discrete Event Systems, Event-driven, Model transformation, Task Modeling, abstraction level, autonomous agents, behavior control, event handling, guide robot, museum guide